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 kV, double kA, double kStatic, double trackWidth, double wheelBase) This class provides the basic functionality of a mecanum drive using class MecanumKinematics.
MecanumDrive(double kV, double kA, double kStatic, double trackWidth) This class provides the basic functionality of a mecanum drive using class MecanumKinematics.

Method Summary

Modifier and Type	Method and Description
Localizer	getLocalizer() Localizer used to determine the evolution of poseEstimate.
java.util.List<java.lang.Double>	getWheelPositions() Returns the positions of the wheels in linear distance units. Positions should exactly match the ordering in setMotorPowers.
void	setDrivePower(Pose2d drivePower) Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.
void	setDriveSignal(DriveSignal driveSignal) Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.
void	setLocalizer(Localizer p) Localizer used to determine the evolution of poseEstimate.
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].

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

getExternalHeading, getLocalizer, getPoseEstimate, getRawExternalHeading, setDrivePower, setDriveSignal, setExternalHeading, setLocalizer, setPoseEstimate, updatePoseEstimate

Constructor Detail

MecanumDrive

@JvmOverloads
public MecanumDrive(double kV,
                                  double kA,
                                  double kStatic,
                                  double trackWidth,
                                  double wheelBase)

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

Parameters:

kV - velocity feedforward

kA - acceleration feedforward

kStatic - additive constant feedforward

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

@JvmOverloads
public MecanumDrive(double kV,
                                  double kA,
                                  double kStatic,
                                  double trackWidth)

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

Parameters:

kV - velocity feedforward

kA - acceleration feedforward

kStatic - additive constant feedforward

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

See Also:

class MecanumKinematics

Method Detail

getLocalizer

@NotNull
public Localizer getLocalizer()

Localizer used to determine the evolution of poseEstimate.

See Also:

poseEstimate

setLocalizer

public void setLocalizer(@NotNull
                         Localizer p)

Localizer used to determine the evolution of poseEstimate.

See Also:

poseEstimate

setDriveSignal

public void setDriveSignal(@NotNull
                           DriveSignal driveSignal)

Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors.

See Also:

driveSignal

setDrivePower

public void setDrivePower(@NotNull
                          Pose2d drivePower)

Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower.

See Also:

drivePower

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

@NotNull
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 setMotorPowers.

See Also:

setMotorPowers