org.firstinspires.ftc.teamcode.drive

Class SampleTankDrive

java.lang.Object

com.acmerobotics.roadrunner.drive.Drive

com.acmerobotics.roadrunner.drive.TankDrive

org.firstinspires.ftc.teamcode.drive.SampleTankDrive

public class SampleTankDrive
extends com.acmerobotics.roadrunner.drive.TankDrive

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	SampleTankDrive.Mode

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

com.acmerobotics.roadrunner.drive.TankDrive.TankLocalizer

Field Summary

Fields

Modifier and Type	Field and Description
private com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryAccelerationConstraint	accelConstraint
static com.acmerobotics.roadrunner.control.PIDCoefficients	AXIAL_PID
private com.qualcomm.robotcore.hardware.VoltageSensor	batteryVoltageSensor
private com.acmerobotics.roadrunner.util.NanoClock	clock
static com.acmerobotics.roadrunner.control.PIDCoefficients	CROSS_TRACK_PID
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 java.util.List<com.qualcomm.robotcore.hardware.DcMotorEx>	leftMotors
private SampleTankDrive.Mode	mode
private java.util.List<com.qualcomm.robotcore.hardware.DcMotorEx>	motors
static double	OMEGA_WEIGHT
private java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d>	poseHistory
private java.util.List<com.qualcomm.robotcore.hardware.DcMotorEx>	rightMotors
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

Constructor Summary

Constructors

Constructor and Description
SampleTankDrive(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)
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.TankDrive

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

AXIAL_PID

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

CROSS_TRACK_PID

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

HEADING_PID

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

VX_WEIGHT

public static double VX_WEIGHT

OMEGA_WEIGHT

public static double OMEGA_WEIGHT

dashboard

private com.acmerobotics.dashboard.FtcDashboard dashboard

clock

private com.acmerobotics.roadrunner.util.NanoClock clock

mode

private SampleTankDrive.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.List<com.acmerobotics.roadrunner.geometry.Pose2d> poseHistory

motors

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

leftMotors

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

rightMotors

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

imu

private com.qualcomm.hardware.bosch.BNO055IMU imu

batteryVoltageSensor

private com.qualcomm.robotcore.hardware.VoltageSensor batteryVoltageSensor

Constructor Detail

SampleTankDrive

public SampleTankDrive(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.TankDrive

getWheelVelocities

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

Overrides:

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

setMotorPowers

public void setMotorPowers(double v,
                           double v1)

Specified by:

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

getRawExternalHeading

public double getRawExternalHeading()

Specified by:

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