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 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

@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

getRawExternalHeading

protected double getRawExternalHeading()

The raw heading used for computing externalHeading. Not affected by externalHeading setter.

See Also:

externalHeading, externalHeading

getExternalHeading

public double getExternalHeading()

The robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope).

setExternalHeading

public void setExternalHeading(double value)

The robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope).

getPoseEstimate

@NotNull
public Pose2d getPoseEstimate()

The robot's current pose estimate.

setPoseEstimate

public void setPoseEstimate(@NotNull
                            Pose2d value)

The robot's current pose estimate.

getPoseVelocity

@Nullable
public Pose2d getPoseVelocity()

Current robot pose velocity (optional)

updatePoseEstimate

public void updatePoseEstimate()

Updates poseEstimate with the most recent positional change.

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

getExternalHeadingVelocity

@Nullable
public java.lang.Double getExternalHeadingVelocity()

The heading velocity used to determine pose velocity in some cases