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

TankDrive

open class TankDrive : BunyipsSubsystem, RoadRunnerDrive

This class is the standard Tank drive class that controls two sets of parallel motors while integrating the RoadRunner v1.0 library in BunyipsLib.

Since

6.0.0

Constructors

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.

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>)

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

Types

FollowTrajectoryTask

inner class FollowTrajectoryTask : Task

A task that will execute a RoadRunner trajectory on a Tank drive.

inner class TurnTask : Task

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

Properties

open val accumulator: Accumulator

open var gains: TankGains

Gains used for tank drive control.

open val localizer: Localizer

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 for each side of the robot.

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()

To be updated periodically on every hardware loop.

open fun setMotorPowers(leftPower: Double, rightPower: Double)

Set the raw power for each side of the robot.

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): TankDrive

Set the pose accumulator this drive instance should use.

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

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.