ftc/com.acmerobotics.roadrunner.hardware

Package-level declarations

Types

Encoder

sealed interface Encoder

EncoderGroup

interface EncoderGroup

ImuInitMessage

class ImuInitMessage(val deviceName: String, val beginInit: Long, val endInit: Long, val timedOut: Boolean)

LazyHardwareMapImu

class LazyHardwareMapImu @JvmOverloads constructor(hardwareMap: HardwareMap, name: String, orientation: ImuOrientationOnRobot, timeoutMs: Int = 500) : LazyImu

LazyImu

interface LazyImu

LynxFirmwareVersion

class LynxFirmwareVersion(val major: Int, val minor: Int, val eng: Int)

Parsed representation of a Lynx module firmware version.

LynxQuadratureEncoderGroup

class LynxQuadratureEncoderGroup(val modules: List<LynxModule>, val encoders: List<Encoder>) : EncoderGroup

OTOSEncoderGroup

class OTOSEncoderGroup(val otos: SparkFunOTOS) : EncoderGroup

OTOSIMU

class OTOSIMU(val otos: SparkFunOTOS) : LazyImu, IMU, HardwareDevice

OverflowEncoder

class OverflowEncoder(val encoder: RawEncoder) : Encoder

ParallelOTOSEncoder

class ParallelOTOSEncoder(val group: OTOSEncoderGroup) : Encoder

PerpendicularOTOSEncoder

class PerpendicularOTOSEncoder(val group: OTOSEncoderGroup) : Encoder

PinpointEncoderGroup

class PinpointEncoderGroup(val pinpoint: PinpointLocalizer) : EncoderGroup

PinpointIMU

class PinpointIMU(val pinpoint: PinpointLocalizer) : IMU, LazyImu

PinpointParEncoder

class PinpointParEncoder(val pinpoint: PinpointLocalizer) : Encoder

PinpointPerpEncoder

class PinpointPerpEncoder(val pinpoint: PinpointLocalizer) : Encoder

PositionVelocityPair

class PositionVelocityPair(val position: Int, val velocity: Int, val rawPosition: Int, val rawVelocity: Int)

RawEncoder

class RawEncoder(val motor: DcMotorEx) : Encoder

RollingThreeMedian

class RollingThreeMedian

WrappingEncoder

class WrappingEncoder(val encoder: Encoder, val cpr: Int) : Encoder

An encoder that wraps its position to [0, cpr). Useful for swerve pod rotations.

Properties

multiplier

val DcMotorSimple.Direction.multiplier: Int

pinpointDirection

val DcMotorSimple.Direction.pinpointDirection: GoBildaPinpointDriver.EncoderDirection

Functions

normalizeAngle

fun normalizeAngle(angle: Double): Double

parse

fun parse(s: String?): LynxFirmwareVersion?

Parses Lynx module firmware version string into structured version object. Returns null for null argument or upon error.

rawPosVelPair

fun rawPosVelPair(pos: Double, vel: Double): PositionVelocityPair

fun rawPosVelPair(pos: Int, vel: Int): PositionVelocityPair

throwIfModulesAreOutdated

fun throwIfModulesAreOutdated(hardwareMap: HardwareMap)

Ensure all of the Lynx modules attached to the robot satisfy the minimum requirement.

toOTOSPose

fun Pose2d.toOTOSPose(): SparkFunOTOS.Pose2D

toRRPose

fun SparkFunOTOS.Pose2D.toRRPose(): Pose2d