0.2.1

ftc/com.acmerobotics.roadrunner.ftc/Drive

Drive

interface Drive

Properties

abstract val controller: RobotPosVelController

defaultAccelConstraint

open val defaultAccelConstraint: AccelConstraint

defaultTurnConstraints

abstract val defaultTurnConstraints: TurnConstraints

defaultVelConstraint

open val defaultVelConstraint: VelConstraint

abstract val followerParams: FollowerParams

abstract val localizer: Localizer

Functions

open fun createProfile(path: PosePath): DisplacementProfile

Creates and returns a time-optimal profile for the given path.

createTrajectory

open fun createTrajectory(path: PosePath): DisplacementTrajectory

Creates and returns a time-optimal profile for the given path.

drawPoseHistory

fun Drive.drawPoseHistory(canvas: Canvas)

fun Drive.lineTo(target: Vector2d): GenerableTrajectory

open fun setDrivePowers(powers: PoseVelocity2d)

abstract fun setDrivePowers(powers: PoseVelocity2dDual<Time>)

setDrivePowersWithFF

open fun setDrivePowersWithFF(powers: PoseVelocity2d)

abstract fun setDrivePowersWithFF(powers: PoseVelocity2dDual<Time>)

fun Drive.splineTo(target: Vector2d, tangent: Rotation2d): DisplacementTrajectory

trajectoryBuilder

open fun trajectoryBuilder(): TrajectoryBuilder

abstract fun trajectoryBuilder(startPose: Pose2d): TrajectoryBuilder

updatePoseEstimate

open fun updatePoseEstimate(): PoseVelocity2d