TeamCode/org.firstinspires.ftc.teamcode.features/NativeMecanumDrivetrain

NativeMecanumDrivetrain

public final class NativeMecanumDrivetrain extends Feature implements Buildable

A mecanum drivetrain—this doesn't require odometry, hence it being "native" by not relying on external libraries. If you have odometry, use MecanumDrivetrain.

Controls: Right joystick controlls rotation. Left joystick controlls forward/backward/left/right movement. Controller 1 has full power. Controller 2 has reduced power (for finer control)

Parameters

drivetrainMapMode

The motor layout of the drivetrain.

useExpansionHub

Whether or not to use the expansion hub to get the motors. Requires that the expansion hub motors be initialized before use

fieldCentric

Whether or not to use field centric controls. The imu must be initialized prior to use.

isRotInverted

Whether or not to invert the rotation controls. Required for our second robot.

Constructors

NativeMecanumDrivetrain

public NativeMecanumDrivetrain NativeMecanumDrivetrain()

public NativeMecanumDrivetrain NativeMecanumDrivetrain(Boolean isRotInverted)

public NativeMecanumDrivetrain NativeMecanumDrivetrain(DrivetrainMapMode drivetrainMapMode)

public NativeMecanumDrivetrain NativeMecanumDrivetrain(DrivetrainMapMode drivetrainMapMode, Boolean useExpansionHub)

public NativeMecanumDrivetrain NativeMecanumDrivetrain(DrivetrainMapMode drivetrainMapMode, Boolean useExpansionHub, Boolean fieldCentric, Boolean isRotInverted)

Properties

CONTROL1_COORDINATE_MOTION

private Double CONTROL1_COORDINATE_MOTION

CONTROL1_ROTATIONAL_MOTION

private Double CONTROL1_ROTATIONAL_MOTION

CONTROL2_COORDINATE_MOTION

private Double CONTROL2_COORDINATE_MOTION

CONTROL2_ROTATIONAL_MOTION

private Double CONTROL2_ROTATIONAL_MOTION

private ScriptParameters environment

public final String name

public final Boolean needsInit

Functions

public Unit build()

The method to run when a feature is being built.

getCONTROL1_COORDINATE_MOTION

public final Double getCONTROL1_COORDINATE_MOTION()

getCONTROL1_ROTATIONAL_MOTION

public final Double getCONTROL1_ROTATIONAL_MOTION()

getCONTROL2_COORDINATE_MOTION

public final Double getCONTROL2_COORDINATE_MOTION()

getCONTROL2_ROTATIONAL_MOTION

public final Double getCONTROL2_ROTATIONAL_MOTION()

public final ScriptParameters getEnvironment()

public Unit init(ScriptParameters parameters)

public Unit loop()

The method to run on every loop of this feature. If this feature is conditional, this will only run if Conditional.when returns true.

public Unit run(ScriptParameters parameters)

setCONTROL1_COORDINATE_MOTION

public final Unit setCONTROL1_COORDINATE_MOTION(Double CONTROL1_COORDINATE_MOTION)

setCONTROL1_ROTATIONAL_MOTION

public final Unit setCONTROL1_ROTATIONAL_MOTION(Double CONTROL1_ROTATIONAL_MOTION)

setCONTROL2_COORDINATE_MOTION

public final Unit setCONTROL2_COORDINATE_MOTION(Double CONTROL2_COORDINATE_MOTION)

setCONTROL2_ROTATIONAL_MOTION

public final Unit setCONTROL2_ROTATIONAL_MOTION(Double CONTROL2_ROTATIONAL_MOTION)

public final Unit setEnvironment(ScriptParameters environment)