org.firstinspires.ftc.teamcode.drive

Class SampleMecanumDrive

java.lang.Object

com.acmerobotics.roadrunner.drive.Drive

com.acmerobotics.roadrunner.drive.MecanumDrive

org.firstinspires.ftc.teamcode.drive.SampleMecanumDrive

public class SampleMecanumDrive
extends com.acmerobotics.roadrunner.drive.MecanumDrive

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SampleMecanumDrive.Mode

Nested classes/interfaces inherited from class com.acmerobotics.roadrunner.drive.MecanumDrive

com.acmerobotics.roadrunner.drive.MecanumDrive.MecanumLocalizer

Field Summary

Fields

Modifier and Type	Field and Description
private com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint	accelConstraint
private com.qualcomm.robotcore.hardware.VoltageSensor	batteryVoltageSensor
private com.acmerobotics.roadrunner.util.NanoClock	clock
private com.acmerobotics.dashboard.FtcDashboard	dashboard
private com.acmerobotics.roadrunner.followers.TrajectoryFollower	follower
static com.acmerobotics.roadrunner.control.PIDCoefficients	HEADING_PID
private com.qualcomm.hardware.bosch.BNO055IMU	imu
private com.acmerobotics.roadrunner.geometry.Pose2d	lastPoseOnTurn
static double	LATERAL_MULTIPLIER
private com.qualcomm.robotcore.hardware.DcMotorEx	leftFront
private com.qualcomm.robotcore.hardware.DcMotorEx	leftRear
private SampleMecanumDrive.Mode	mode
private java.util.List<com.qualcomm.robotcore.hardware.DcMotorEx>	motors
static double	OMEGA_WEIGHT
static int	POSE_HISTORY_LIMIT
private java.util.LinkedList<com.acmerobotics.roadrunner.geometry.Pose2d>	poseHistory
private com.qualcomm.robotcore.hardware.DcMotorEx	rightFront
private com.qualcomm.robotcore.hardware.DcMotorEx	rightRear
static com.acmerobotics.roadrunner.control.PIDCoefficients	TRANSLATIONAL_PID
private com.acmerobotics.roadrunner.control.PIDFController	turnController
private com.acmerobotics.roadrunner.profile.MotionProfile	turnProfile
private double	turnStart
private com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint	velConstraint
static double	VX_WEIGHT
static double	VY_WEIGHT

Constructor Summary

Constructors

Constructor and Description
SampleMecanumDrive(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Method Summary

Modifier and Type	Method and Description
void	followTrajectory(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)
void	followTrajectoryAsync(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)
com.acmerobotics.roadrunner.geometry.Pose2d	getLastError()
double	getRawExternalHeading()
java.util.List<java.lang.Double>	getWheelPositions()
java.util.List<java.lang.Double>	getWheelVelocities()
boolean	isBusy()
void	setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode)
void	setMotorPowers(double v, double v1, double v2, double v3)
void	setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode, com.qualcomm.robotcore.hardware.PIDFCoefficients coefficients)
void	setWeightedDrivePower(com.acmerobotics.roadrunner.geometry.Pose2d drivePower)
void	setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior zeroPowerBehavior)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, boolean reversed)
com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder	trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose, double startHeading)
void	turn(double angle)
void	turnAsync(double angle)
void	update()
void	waitForIdle()

Methods inherited from class com.acmerobotics.roadrunner.drive.MecanumDrive

getLocalizer, setDrivePower, setDriveSignal, setLocalizer

Methods inherited from class com.acmerobotics.roadrunner.drive.Drive

getExternalHeading, getExternalHeadingVelocity, getPoseEstimate, getPoseVelocity, setExternalHeading, setPoseEstimate, updatePoseEstimate

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

TRANSLATIONAL_PID

public static com.acmerobotics.roadrunner.control.PIDCoefficients TRANSLATIONAL_PID

HEADING_PID

public static com.acmerobotics.roadrunner.control.PIDCoefficients HEADING_PID

LATERAL_MULTIPLIER

public static double LATERAL_MULTIPLIER

VX_WEIGHT

public static double VX_WEIGHT

VY_WEIGHT

public static double VY_WEIGHT

OMEGA_WEIGHT

public static double OMEGA_WEIGHT

POSE_HISTORY_LIMIT

public static int POSE_HISTORY_LIMIT

dashboard

private com.acmerobotics.dashboard.FtcDashboard dashboard

clock

private com.acmerobotics.roadrunner.util.NanoClock clock

mode

private SampleMecanumDrive.Mode mode

turnController

private com.acmerobotics.roadrunner.control.PIDFController turnController

turnProfile

private com.acmerobotics.roadrunner.profile.MotionProfile turnProfile

turnStart

private double turnStart

velConstraint

private com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryVelocityConstraint velConstraint

accelConstraint

private com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint accelConstraint

follower

private com.acmerobotics.roadrunner.followers.TrajectoryFollower follower

poseHistory

private java.util.LinkedList<com.acmerobotics.roadrunner.geometry.Pose2d> poseHistory

leftFront

private com.qualcomm.robotcore.hardware.DcMotorEx leftFront

leftRear

private com.qualcomm.robotcore.hardware.DcMotorEx leftRear

rightRear

private com.qualcomm.robotcore.hardware.DcMotorEx rightRear

rightFront

private com.qualcomm.robotcore.hardware.DcMotorEx rightFront

motors

private java.util.List<com.qualcomm.robotcore.hardware.DcMotorEx> motors

imu

private com.qualcomm.hardware.bosch.BNO055IMU imu

batteryVoltageSensor

private com.qualcomm.robotcore.hardware.VoltageSensor batteryVoltageSensor

lastPoseOnTurn

private com.acmerobotics.roadrunner.geometry.Pose2d lastPoseOnTurn

Constructor Detail

SampleMecanumDrive

public SampleMecanumDrive(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap)

Method Detail

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose)

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose,
                                                                                  boolean reversed)

trajectoryBuilder

public com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder trajectoryBuilder(com.acmerobotics.roadrunner.geometry.Pose2d startPose,
                                                                                  double startHeading)

turnAsync

public void turnAsync(double angle)

turn

public void turn(double angle)

followTrajectoryAsync

public void followTrajectoryAsync(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)

followTrajectory

public void followTrajectory(com.acmerobotics.roadrunner.trajectory.Trajectory trajectory)

getLastError

public com.acmerobotics.roadrunner.geometry.Pose2d getLastError()

update

public void update()

waitForIdle

public void waitForIdle()

isBusy

public boolean isBusy()

setMode

public void setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode)

setZeroPowerBehavior

public void setZeroPowerBehavior(com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior zeroPowerBehavior)

setPIDFCoefficients

public void setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode,
                                com.qualcomm.robotcore.hardware.PIDFCoefficients coefficients)

setWeightedDrivePower

public void setWeightedDrivePower(com.acmerobotics.roadrunner.geometry.Pose2d drivePower)

getWheelPositions

@NonNull
public java.util.List<java.lang.Double> getWheelPositions()

Specified by:

getWheelPositions in class com.acmerobotics.roadrunner.drive.MecanumDrive

getWheelVelocities

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

Overrides:

getWheelVelocities in class com.acmerobotics.roadrunner.drive.MecanumDrive

setMotorPowers

public void setMotorPowers(double v,
                           double v1,
                           double v2,
                           double v3)

Specified by:

setMotorPowers in class com.acmerobotics.roadrunner.drive.MecanumDrive

getRawExternalHeading

public double getRawExternalHeading()

Specified by:

getRawExternalHeading in class com.acmerobotics.roadrunner.drive.Drive