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