0.3.4

ftc/gay.zharel.hermes.ftc/MecanumDrive

MecanumDrive

class MecanumDrive @JvmOverloads constructor(val params: MecanumDrive.Parameters, hardwareMap: HardwareMap, pose: Pose2d = Pose2d.zero) : Drive

Mecanum drive implementation for FTC robots with holonomic movement capabilities.

This class provides a complete drive system for mecanum wheel robots, including:

Motor control with feedforward compensation
Pose estimation and tracking via localizer
Trajectory following with velocity and acceleration constraints
Holonomic control for omnidirectional movement

The drive system automatically configures motors, sensors, and control systems based on the provided parameters and hardware map.

Parameters

params

The drive parameters including PID gains and motion constraints

hardwareMap

The FTC hardware map containing motor and sensor configurations

pose

The initial pose of the robot (defaults to origin)

See also

MecanumDriveBuilder

Constructors

constructor(params: MecanumDrive.Parameters, hardwareMap: HardwareMap, pose: Pose2d = Pose2d.zero)

Types

data class Parameters(var axialGains: PosVelGain = PosVelGain(0.1), var lateralGains: PosVelGain = PosVelGain(0.1), var headingGains: PosVelGain = PosVelGain(0.1), var maxWheelVel: Double = 50.0, var minTransAccel: Double = -30.0, var maxTransAccel: Double = 50.0, var maxAngVel: Double = Math.PI, var maxAngAccel: Double = Math.PI)

Configuration parameters for the mecanum drive system.

Properties

open override val controller: HolonomicController

Holonomic controller for trajectory following

defaultAccelConstraint

open override val defaultAccelConstraint: AccelConstraint

Default acceleration constraint for translational movement

defaultTurnConstraints

open override val defaultTurnConstraints: TurnConstraints

Default constraints for turn-in-place movements

defaultVelConstraint

open override val defaultVelConstraint: VelConstraint

Default velocity constraint combining wheel and angular velocity limits

val feedforward: MotorFeedforward

Motor feedforward controller for velocity and acceleration compensation

open override val followerParams: FollowerParams

Follower parameters used for trajectory following

val inPerTick: Double

Conversion factor from encoder ticks to inches

val kinematics: MecanumKinematics

Mecanum kinematics calculator for converting robot velocities to wheel velocities

val leftBack: DcMotorEx

Left back drive motor

val leftFront: DcMotorEx

Left front drive motor

open override val localizer: Localizer

Localizer for pose estimation and tracking. Can be overridden with a custom localizer implementation.

val params: MecanumDrive.Parameters

val rightBack: DcMotorEx

Right back drive motor

val rightFront: DcMotorEx

Right front drive motor

val voltageSensor: VoltageSensor

Voltage sensor for feedforward compensation

Functions

fun actionBuilder(): TrajectoryActionBuilder

Creates a trajectory action builder starting from the current robot pose.

fun actionBuilder(beginPose: Pose2d): TrajectoryActionBuilder

Creates a trajectory action builder starting from a specified pose.

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)

open override fun setDrivePowers(powers: PoseVelocity2dDual<Time>)

Sets drive motor powers based on desired robot velocities without feedforward.

setDrivePowersWithFF

open fun setDrivePowersWithFF(powers: PoseVelocity2d)

open override fun setDrivePowersWithFF(powers: PoseVelocity2dDual<Time>)

Sets drive motor powers with feedforward compensation.

fun Drive.splineTo(target: Vector2d, tangent: Rotation2d): <Error class: unknown class>

trajectoryBuilder

open override fun trajectoryBuilder(): TrajectoryBuilder

Creates a trajectory builder starting from the current robot pose.

open override fun trajectoryBuilder(startPose: Pose2d): TrajectoryBuilder

Creates a trajectory builder starting from a specified pose.

updatePoseEstimate

open override fun updatePoseEstimate(): PoseVelocity2d

Updates the robot's pose estimate using the localizer.