BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner/RoadRunnerDrive

RoadRunnerDrive

interface RoadRunnerDrive : Moveable

Interface implemented by all RoadRunner drive classes.

Author

Lucas Bubner, 2024

Since

6.0.0

Inheritors

Functions

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@NonNull
abstract fun getAccumulator(): Accumulator
Get the accumulator for this drive.
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@NonNull
abstract fun getConstants(): Constants
The constants object represents all configuration options required for creating a RoadRunner trajectory.
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@NonNull
abstract fun getLocalizer(): Localizer
Get the localizer for this drive.
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@NonNull
open fun makeTrajectory(): TaskBuilder
@NonNull
open fun makeTrajectory(@NonNull poseMap: PoseMap): TaskBuilder
Builds a RoadRunner trajectory starting from the robot's last-known position at the time of this method being called.
@NonNull
open fun makeTrajectory(@NonNull startPose: Pose2d): TaskBuilder
Builds a RoadRunner trajectory from an explicit start pose.
@NonNull
open fun makeTrajectory(@NonNull startPose: Pose2d, @NonNull poseMap: PoseMap): TaskBuilder
Builds a RoadRunner trajectory from an explicit start pose, mapped through a PoseMap.
@NonNull
open fun makeTrajectory(@NonNull startVec: Vector2d, @NonNull distUnit: Distance, ang: Double, @NonNull angUnit: Angle): TaskBuilder
Builds a RoadRunner trajectory from a vector and angle, with explicit units.
@NonNull
open fun makeTrajectory(@NonNull startVec: Vector2d, @NonNull distUnit: Distance, ang: Double, @NonNull angUnit: Angle, @NonNull poseMap: PoseMap): TaskBuilder
Builds a RoadRunner trajectory from a vector and angle, with explicit units and pose mapping.
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abstract fun periodic()
Dispatch loop for localization and drive power updates.
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@NonNull
open fun setAccumulator(@NonNull accumulator: Accumulator): RoadRunnerDrive
Set the accumulator for this drive.
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@NonNull
open fun setLocalizer(@NonNull localizer: Localizer): RoadRunnerDrive
Set the localizer for this drive.
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@NonNull
abstract fun withAccumulator(@NonNull accumulator: Accumulator): RoadRunnerDrive
Set the accumulator for this drive.
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@NonNull
abstract fun withLocalizer(@NonNull localizer: Localizer): RoadRunnerDrive
Set the localizer for this drive.

Inherited functions

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@Nullable
abstract fun getPose(): Pose2d
Calculate the accumulated pose from an internal localizer.
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@Nullable
abstract fun getVelocity(): PoseVelocity2d
Calculate the first derivative of the accumulated pose from an internal localizer.
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abstract fun setPose(@NonNull newPose: Pose2d)
open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
Reset the accumulated pose estimate to this pose.
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abstract fun setPower(@NonNull target: PoseVelocity2d)
Set the current commanded power state of the robot in the Robot Coordinate System.