Package frclib.drivebase

Class FrcRobotDrive

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frclib.drivebase.FrcRobotDrive

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

Direct Known Subclasses:

FrcDifferentialDrive, FrcMecanumDrive, FrcSwerveDrive

public class FrcRobotDrive
extends edu.wpi.first.wpilibj2.command.SubsystemBase

This class is intended to be extended by subclasses implementing different robot drive bases.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FrcRobotDrive.ImuType
static class	FrcRobotDrive.RobotInfo	This class contains the Common Robot Info.
static class	FrcRobotDrive.VisionInfo	This class contains Vision parameters of a camera.

Field Summary

Fields

Modifier and Type	Field	Description
TrcDriveBase	driveBase
final TrcMotor[]	driveMotors
final TrcGyro	imu
static final int	INDEX_LEFT_BACK
static final int	INDEX_LEFT_CENTER
static final int	INDEX_LEFT_FRONT
static final int	INDEX_RIGHT_BACK
static final int	INDEX_RIGHT_CENTER
static final int	INDEX_RIGHT_FRONT
TrcPidDrive	pidDrive
TrcPurePursuitDrive	purePursuitDrive
final FrcRobotDrive.RobotInfo	robotInfo

Constructor Summary

Constructors

Constructor	Description
FrcRobotDrive(FrcRobotDrive.RobotInfo robotInfo)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	cancel()	This method cancels any drive operation still in progress.
void	cancel(String owner)	This method cancels any drive operation still in progress.
protected void	configDriveBase(TrcDriveBase driveBase)	This method configures the rest of drive base after it has been created.
double	getGyroPitch()	This method returns the gyro pitch.
double	getGyroRoll()	This method returns the gyro roll.
double	getGyroYaw()	This method returns the gyro yaw.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

INDEX_LEFT_FRONT

public static final int INDEX_LEFT_FRONT

See Also:

• Constant Field Values

INDEX_RIGHT_FRONT

public static final int INDEX_RIGHT_FRONT

See Also:

• Constant Field Values

INDEX_LEFT_BACK

public static final int INDEX_LEFT_BACK

See Also:

• Constant Field Values

INDEX_RIGHT_BACK

public static final int INDEX_RIGHT_BACK

See Also:

• Constant Field Values

INDEX_LEFT_CENTER

public static final int INDEX_LEFT_CENTER

See Also:

• Constant Field Values

INDEX_RIGHT_CENTER

public static final int INDEX_RIGHT_CENTER

See Also:

• Constant Field Values

robotInfo

public final FrcRobotDrive.RobotInfo robotInfo

imu

public final TrcGyro imu

driveMotors

public final TrcMotor[] driveMotors

driveBase

public TrcDriveBase driveBase

pidDrive

public TrcPidDrive pidDrive

purePursuitDrive

public TrcPurePursuitDrive purePursuitDrive

Constructor Details

FrcRobotDrive

public FrcRobotDrive(FrcRobotDrive.RobotInfo robotInfo)

Constructor: Create an instance of the object.

Parameters:

robotInfo - specifies the Robot Info.

Method Details

cancel

public void cancel(String owner)

This method cancels any drive operation still in progress.

Parameters:

owner - specifies the owner that requested the cancel.

cancel

public void cancel()

This method cancels any drive operation still in progress.

configDriveBase

protected void configDriveBase(TrcDriveBase driveBase)

This method configures the rest of drive base after it has been created.

Parameters:

driveBase - specifies the created drive base.

getGyroPitch

public double getGyroPitch()

This method returns the gyro pitch.

Returns:

gyro pitch.

getGyroRoll

public double getGyroRoll()

This method returns the gyro roll.

Returns:

gyro roll.

getGyroYaw

public double getGyroYaw()

This method returns the gyro yaw.

Returns:

gyro yaw.