BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks/HolonomicDriveTask/HolonomicDriveTask

HolonomicDriveTask

constructor(@NonNull targetVecNormalised: Supplier<PoseVelocity2d>, @NonNull drive: Moveable)

Constructor for HolonomicDriveTask.

Parameters

targetVecNormalised

The supplier for Robot velocity input, magnitude [-1, 1] of max robot velocity

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.

constructor(@NonNull driver: Gamepad, @NonNull drive: Moveable)

Constructor for HolonomicDriveTask using a default Mecanum binding. Left stick controls translation, right stick controls rotation.

Parameters

driver

The gamepad to use for driving in a standard configuration

drive

The holonomic drive to use, which you must ensure is holonomic as strafe commands will be called unlike the differential control task. This task will be auto-attached to this BunyipsSubsystem if possible.