Drive-specific interfaces that provide functionality for setting robot velocities and using positional feedback for localization.
abstract 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. |
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data class DriveSignal
Signal indicating the commanded kinematic state of a drive. |
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abstract class MecanumDrive : Drive
This class provides the basic functionality of a mecanum drive using MecanumKinematics. |
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abstract class SwerveDrive : Drive
This class provides the basic functionality of a swerve drive using SwerveKinematics. |
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abstract class TankDrive : Drive
This class provides the basic functionality of a tank/differential drive using TankKinematics. |