BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.subsystems.drive/MecanumDrive

MecanumDrive

open class MecanumDrive : BunyipsSubsystem, RoadRunnerDrive

This class is the standard Mecanum drive class that controls a set of four mecanum wheels while integrating the RoadRunner v1.0 library in BunyipsLib.

Since

6.0.0

Constructors

constructor(@NonNull driveModel: DriveModel, @NonNull motionProfile: MotionProfile, @NonNull mecanumGains: MecanumGains, @Nullable leftFront: DcMotor, @Nullable leftBack: DcMotor, @Nullable rightBack: DcMotor, @Nullable rightFront: DcMotor, @Nullable imu: IMU, @NonNull voltageSensorMapping: HardwareMap.DeviceMapping<VoltageSensor>, @NonNull startPose: Pose2d)

Create a new MecanumDrive.

constructor(@NonNull driveModel: DriveModel, @NonNull motionProfile: MotionProfile, @NonNull mecanumGains: MecanumGains, @Nullable leftFront: DcMotor, @Nullable leftBack: DcMotor, @Nullable rightBack: DcMotor, @Nullable rightFront: DcMotor, @Nullable imu: IMU, @NonNull voltageSensorMapping: HardwareMap.DeviceMapping<VoltageSensor>)

Create a new MecanumDrive that will start at the last known pose.

Types

FollowDisplacementTrajectoryTask

inner class FollowDisplacementTrajectoryTask : Task

A task that will execute a RoadRunner trajectory on a Mecanum drive using a path follower approach.

FollowTimedTrajectoryTask

inner class FollowTimedTrajectoryTask : Task

A task that will execute a time-based RoadRunner trajectory on a Mecanum drive.

HoldLastPoseTask

inner class HoldLastPoseTask : Task

A task that will hold the last known pose of the robot using the RoadRunner feedback loop.

inner class TurnTask : Task

A task that will execute a motion-profiled turn on a Mecanum drive using RoadRunner.

Properties

open val accumulator: Accumulator

open var gains: MecanumGains

Gains used for holonomic drive control.

open val localizer: Localizer

PATH_FOLLOWER_ENDPOINT_PROJECTION_TOLERANCE_INCHES

open var PATH_FOLLOWER_ENDPOINT_PROJECTION_TOLERANCE_INCHES: Double

The minimum distance from endpoint of the trajectory to the projected pose to begin stabilisation for the path following mode of this MecanumDrive.

PATH_FOLLOWER_PROJECTION_LOOKAHEAD_INCHES

open var PATH_FOLLOWER_PROJECTION_LOOKAHEAD_INCHES: Double

The lookahead distance used for the current implementation of the path following mode of this MecanumDrive.

Inherited properties

open var currentTask: Task

protected open var name: String

Reference to the user-defined or default name of this subsystem.

Functions

open fun getConstants(): Constants

The constants object represents all configuration options required for creating a RoadRunner trajectory.

open fun getMotorPowers(): Array<Double>

Get the raw power of each motor on the drive.

open fun getPose(): Pose2d

Calculate the accumulated pose from an internal localizer.

open fun getVelocity(): PoseVelocity2d

Calculate the first derivative of the accumulated pose from an internal localizer.

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

open fun periodic()

This method will dispatch new motor powers and run one iteration of the localizer to update the pose estimates.

open fun setMotorPowers(leftFrontPower: Double, leftBackPower: Double, rightBackPower: Double, rightFrontPower: Double)

Set the raw power of each motor on the drive.

open fun setPose(@NonNull newPose: Pose2d)

Reset the accumulated pose estimate to this pose.

open fun setPower(@NonNull target: PoseVelocity2d)

Set the current commanded power state of the robot in the Robot Coordinate System.

withAccumulator

open fun withAccumulator(@NonNull accumulator: Accumulator): MecanumDrive

Set the pose accumulator this drive instance should use.

withErrorThresholds

open fun withErrorThresholds(@NonNull errorThresholds: ErrorThresholds): MecanumDrive

Set a new set of error thresholds for this drive instance to use when running trajectories.

open fun withLocalizer(@NonNull localizer: Localizer): MecanumDrive

Set the Localizer this drive instance should use.

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

infix fun BunyipsSubsystem.default(defaultTask: Task)

Default task setter extension for BunyipsSubsystem to set the default task of a subsystem.

protected fun delegate(@NonNull child: BunyipsSubsystem)

Call to delegate the update of this subsystem, usually a component of another subsystem, to this subsystem.

Prevent a subsystem from running.

open fun disableAll()

Disable all BunyipsSubsystem instances that has been constructed since the last clearing.

fun enable()

Re-enable a subsystem if it was previously disabled via a disable call.

open fun enableAll()

Enable all BunyipsSubsystem instances that has been constructed since the last clearing.

forThisSubsystem

protected fun forThisSubsystem(@NonNull name: Any): String

Formats a task name to follow the convention full_name:task.

fun isDefaultName(): Boolean

fun isDisabled(): Boolean

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask (or no task) is running.

isRunningDefaultTask

fun isRunningDefaultTask(): Boolean

Determine if the subsystem is running the default task.

open fun makeTrajectory(): TaskBuilder

Begin building a RoadRunner trajectory from the last-known robot position when this method is called.

open fun makeTrajectory(@NonNull startPose: Pose2d): TaskBuilder

open fun makeTrajectory(@NonNull startPose: Pose2d, @NonNull poseMap: PoseMap): TaskBuilder

open fun makeTrajectory(@NonNull startVec: Vector2d, @NonNull distUnit: Distance, ang: Double, @NonNull angUnit: Angle): TaskBuilder

open fun makeTrajectory(@NonNull startVec: Vector2d, @NonNull distUnit: Distance, ang: Double, @NonNull angUnit: Angle, @NonNull poseMap: PoseMap): TaskBuilder

Begin building a RoadRunner trajectory from the supplied pose when this method is called.

open fun makeTrajectory(@NonNull poseMap: PoseMap): TaskBuilder

Begin building a RoadRunner trajectory from the inverse (PoseMap piped) last-known robot position when this method is called.

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

open fun setAccumulator(@NonNull accumulator: Accumulator): RoadRunnerDrive

Set the accumulator for this drive.

fun setDefaultTask(@NonNull defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(@NonNull currentTask: Task)

Set the current task to the given task, overriding any current task.

open fun setLocalizer(@NonNull localizer: Localizer): RoadRunnerDrive

Set the localizer for this drive.

open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)

Reset the accumulated pose estimate to this pose.

protected fun sout(@NonNull logger: Consumer<String>, @NonNull format: String, @Nullable objs: Array<Any>)

Log to Logcat using smart formatting with the current subsystem name.

fun startThread()

fun startThread(@NonNull loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

fun toString(): String

toVerboseString

fun toVerboseString(): String

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.