core / com.acmerobotics.roadrunner.drive / Drive

Drive

abstract class Drive (source)

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.

Constructors

<init>

Drive()

Properties

externalHeading	The robot's heading in radians as measured by an external sensor (e.g., IMU, gyroscope). `var externalHeading: Double`
localizer	Localizer used to determine the evolution of poseEstimate. `abstract var localizer: Localizer`
poseEstimate	The robot's current pose estimate. `var poseEstimate: Pose2d`
poseVelocity	Current robot pose velocity (optional) `val poseVelocity: Pose2d?`
rawExternalHeading	The raw heading used for computing externalHeading. Not affected by externalHeading setter. `abstract val rawExternalHeading: Double`

Functions

getExternalHeadingVelocity	The heading velocity used to determine pose velocity in some cases `open fun getExternalHeadingVelocity(): Double?`
setDrivePower	Sets the current commanded drive state of the robot. Feedforward is not applied to drivePower. `abstract fun setDrivePower(drivePower: Pose2d): Unit`
setDriveSignal	Sets the current commanded drive state of the robot. Feedforward is applied to driveSignal before it reaches the motors. `abstract fun setDriveSignal(driveSignal: DriveSignal): Unit`
updatePoseEstimate	Updates poseEstimate with the most recent positional change. `fun updatePoseEstimate(): Unit`

Inheritors

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`