ftc/gay.zharel.hermes.ftc

Package-level declarations

Types

class DisplacementFollower @JvmOverloads constructor(val trajectory: TrajectoryWithMarkers<Arclength>, val drive: Drive, val endConditions: Set<EndCondition> = EndCondition.default) : Follower

Drive

interface Drive

Encoder

sealed interface Encoder

EncoderGroup

interface EncoderGroup

EndCondition

fun interface EndCondition

Follower

interface Follower

FollowerParams

data class FollowerParams(val profileParams: ProfileParams, val velConstraint: VelConstraint, val accelConstraint: AccelConstraint)

FollowTrajectoryAction

class FollowTrajectoryAction(follower: Follower, drive: Drive) : Action

GenerableTrajectory

fun interface GenerableTrajectory

Localizer

interface Localizer

A localizer is responsible for tracking the robot's position and velocity (i.e., its pose) in the field frame.

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.

MecanumDriveBuilder

class MecanumDriveBuilder

Builder class for constructing a MecanumDrive instance with custom parameters.

MecanumDriveLocalizer

class MecanumDriveLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val imu: IMU, val kinematics: MecanumKinematics, val leftFront: Encoder, val leftBack: Encoder, val rightFront: Encoder, val rightBack: Encoder, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on mecanum drive encoders and an IMU. This localizer is not recommended for use with dead wheels.

OTOSLocalizer

class OTOSLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val otosName: String = "sensor_otos", var linearScalar: Double = 1.0, var angularScalar: Double = 1.0, var offset: Pose2d = Pose2d.zero, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on the SparkFun OTOS sensor.

OverflowEncoder

class OverflowEncoder(val encoder: RawEncoder) : Encoder

PinpointLocalizer

class PinpointLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val parameters: PinpointParameters, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on the GoBilda Pinpoint dead wheel module.

PositionVelocityPair

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

RawEncoder

class RawEncoder(val motor: DcMotorEx) : Encoder

RollingThreeMedian

class RollingThreeMedian

SwerveLocalizer

class SwerveLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val cpr: Int, var inPerTick: Double, val imu: IMU, val kinematics: SwerveKinematics, driveEncoders: List<Encoder>, steeringEncoders: List<Encoder>, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on swerve drive encoders and an IMU. This localizer is not recommended for use with dead wheels.

TankLocalizer

class TankLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val kinematics: TankKinematics, val leftEncoders: List<Encoder>, val rightEncoders: List<Encoder>, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on tank drive encoders. This localizer is not recommended for use with dead wheels.

ThreeDeadWheelLocalizer

class ThreeDeadWheelLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val par0Name: String = "par0", val par1Name: String = "par1", val perpName: String = "perp", var par0YTicks: Double = 0.0, var par1YTicks: Double = 1.0, var perpXTicks: Double = 0.0, val par0Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val par1Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on three dead wheels.

TimeFollower

class TimeFollower @JvmOverloads constructor(val trajectory: TrajectoryWithMarkers<Time>, val drive: Drive, val endConditions: Set<EndCondition> = EndCondition.default) : Follower

TurnAction

class TurnAction(val turn: TimeTurn, val drive: Drive) : ActionEx

TwoDeadWheelLocalizer

class TwoDeadWheelLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val imu: IMU, var inPerTick: Double, val parName: String, val perpName: String, var parYTicks: Double = 0.0, var perpXTicks: Double = 0.0, val parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on two dead wheels and an IMU.

WrappingEncoder

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

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

Functions

lineTo

fun Drive.lineTo(target: Vector2d): GenerableTrajectory

splineTo

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