com.acmerobotics.roadrunner.drive

Class Drive

com.acmerobotics.roadrunner.drive.Drive

Direct Known Subclasses:

MecanumDrive, SwerveDrive, TankDrive

public class Drive

Abstraction for generic robot drive motion and localization. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Constructor Summary

Constructors

Constructor and Description
Drive() Abstraction for generic robot drive motion and localization. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Method Summary

Modifier and Type	Method and Description
Localizer	getLocalizer() Localizer used to determine the evolution of Drive.getPoseEstimate.
Pose2d	getPoseEstimate() The robot's current pose estimate.
void	setLocalizer(Localizer p) Localizer used to determine the evolution of Drive.getPoseEstimate.
void	setPoseEstimate(Pose2d value) The robot's current pose estimate.
void	setVelocity(Pose2d poseVelocity) Sets the poseVelocity of the robot.
void	updatePoseEstimate() Updates Drive.getPoseEstimate with the most recent positional change.

Constructor Detail

Drive

public Drive()

Abstraction for generic robot drive motion and localization. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Method Detail

getLocalizer

public Localizer getLocalizer()

Localizer used to determine the evolution of Drive.getPoseEstimate.

See Also:

Drive.getPoseEstimate

setLocalizer

public void setLocalizer(Localizer p)

Localizer used to determine the evolution of Drive.getPoseEstimate.

See Also:

Drive.getPoseEstimate

getPoseEstimate

public Pose2d getPoseEstimate()

The robot's current pose estimate.

setPoseEstimate

public void setPoseEstimate(Pose2d value)

The robot's current pose estimate.

updatePoseEstimate

public void updatePoseEstimate()

Updates Drive.getPoseEstimate with the most recent positional change.

See Also:

Drive.getPoseEstimate

setVelocity

public void setVelocity(Pose2d poseVelocity)

Sets the poseVelocity of the robot.