com.acmerobotics.roadrunner.drive

Class TankDrive

Drive

com.acmerobotics.roadrunner.drive.TankDrive

public class TankDrive
extends Drive

This class provides the basic functionality of a tank/differential drive using class TankKinematics.

See Also:

class TankKinematics

Constructor Detail

TankDrive

public TankDrive(double kV,
                 double kA,
                 double kStatic,
                 double trackWidth)

This class provides the basic functionality of a tank/differential drive using class TankKinematics.

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 TankKinematics

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 left,
                           double right)

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

getWheelVelocities

@Nullable
public java.util.List<java.lang.Double> getWheelVelocities()

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

See Also:

setMotorPowers