com.acmerobotics.roadrunner.drive

Class MecanumDrive

Drive

com.acmerobotics.roadrunner.drive.MecanumDrive

public class MecanumDrive
extends Drive

This class provides the basic functionality of a mecanum drive using class MecanumKinematics.

See Also:

class MecanumKinematics

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	MecanumDrive.MecanumLocalizer Default localizer for mecanum drives based on the drive encoders and (optionally) a heading sensor.

Constructor Summary

Constructors

Constructor and Description
MecanumDrive(double trackWidth, double wheelBase) This class provides the basic functionality of a mecanum drive using class MecanumKinematics.
MecanumDrive(double trackWidth) This class provides the basic functionality of a mecanum drive using class MecanumKinematics.

Method Summary

Modifier and Type	Method and Description
double	getExternalHeading() Returns the robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope). Heading is measured counter-clockwise from the x-axis.
Localizer	getLocalizer() Localizer used to determine the evolution of Drive.getPoseEstimate.
double	getTrackWidth() lateral distance between pairs of wheels on different sides of the robot
double	getWheelBase() distance between pairs of wheels on the same side of the robot
java.util.List<java.lang.Double>	getWheelPositions() Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in MecanumDrive.setMotorPowers.
void	setLocalizer(Localizer p) Localizer used to determine the evolution of Drive.getPoseEstimate.
void	setMotorPowers(double frontLeft, double rearLeft, double rearRight, double frontRight) Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].
void	setVelocity(Pose2d poseVelocity) Sets the poseVelocity of the robot.

Methods inherited from class com.acmerobotics.roadrunner.drive.Drive

getLocalizer, getPoseEstimate, setLocalizer, setPoseEstimate, setVelocity, updatePoseEstimate

Constructor Detail

MecanumDrive

public MecanumDrive(double trackWidth,
                    double wheelBase)

This class provides the basic functionality of a mecanum drive using class MecanumKinematics.

Parameters:

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

See Also:

class MecanumKinematics

MecanumDrive

public MecanumDrive(double trackWidth)

This class provides the basic functionality of a mecanum drive using class MecanumKinematics.

Parameters:

trackWidth - lateral distance between pairs of wheels on different sides of the robot

trackWidth - lateral distance between pairs of wheels on different sides of the robot

See Also:

class MecanumKinematics

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

setVelocity

public void setVelocity(Pose2d poseVelocity)

Sets the poseVelocity of the robot.

setMotorPowers

public void setMotorPowers(double frontLeft,
                           double rearLeft,
                           double rearRight,
                           double frontRight)

Sets the following motor powers (normalized voltages). All arguments are on the interval [-1.0, 1.0].

getWheelPositions

public java.util.List<java.lang.Double> getWheelPositions()

Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in MecanumDrive.setMotorPowers.

See Also:

MecanumDrive.setMotorPowers

getExternalHeading

public double getExternalHeading()

Returns the robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope). Heading is measured counter-clockwise from the x-axis.

getTrackWidth

public double getTrackWidth()

lateral distance between pairs of wheels on different sides of the robot

getWheelBase

public double getWheelBase()

distance between pairs of wheels on the same side of the robot