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

TankDrive

constructor(@NonNull driveModel: DriveModel, @NonNull motionProfile: MotionProfile, @NonNull tankGains: TankGains, @NonNull leftMotors: List<DcMotor>, @NonNull rightMotors: List<DcMotor>, @NonNull imu: IMU, @NonNull voltageSensorMapping: HardwareMap.DeviceMapping<VoltageSensor>, @NonNull startPose: Pose2d)

Create a new TankDrive.

Parameters

driveModel

the drive model parameters

motionProfile

the motion profile parameters

tankGains

the tank gains parameters

leftMotors

all motors on the left side of the robot (e.g. Arrays.asList(leftFront, leftBack))

rightMotors

all motors on the right side of the robot (e.g. Arrays.asList(rightFront, rightBack))

imu

the IMU to use, see IMUEx for lazy or no hub IMU (IMUEx.none()) initialisation

voltageSensorMapping

the voltage sensor mapping for the robot as returned by hardwareMap.voltageSensor

startPose

the starting pose of the robot

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

Parameters

driveModel

the drive model parameters

motionProfile

the motion profile parameters

tankGains

the tank gains parameters

leftMotors

all motors on the left side of the robot (e.g. Arrays.asList(leftFront, leftBack))

rightMotors

all motors on the right side of the robot (e.g. Arrays.asList(rightFront, rightBack))

imu

the IMU to use, see IMUEx for lazy or null initialisation

voltageSensorMapping

the voltage sensor mapping for the robot as returned by hardwareMap.voltageSensor

Create a new TankDrive that will start at the last known pose and use the first found voltage sensor in the Hardware Map.

Parameters

driveModel

the drive model parameters

motionProfile

the motion profile parameters

tankGains

the tank gains parameters

leftMotors

all motors on the left side of the robot (e.g. Arrays.asList(leftFront, leftBack))

rightMotors

all motors on the right side of the robot (e.g. Arrays.asList(rightFront, rightBack))

imu

the IMU to use, see IMUEx for lazy or null initialisation