NextFTC Documentation

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TeleOp Driving ​

IMPORTANT

This page outlines how to use the Pedro drivetrain command to control your robot in TeleOp. It uses Pedro's built-in TeleOp driving feature to control a holonomic drivetrain with centripetal force correction.

INFO

Any holonomic drive can be controlled in one of two ways: robot centric or field centric.

Robot-centric assumes that each push of the joystick is in relation to the local position of the robot—this means that whenever the user pushes the drive stick forward, the robot will drive in the direction of its front-facing side.

Field-centric assumes that each push of the joystick is in relation to the global position of the robot—this means that whenever the user pushes the drive stick forward, the robot will move away from the driver no matter its orientation. This is done by rotating the direction of the joystick clockwise by an angle measurement equivalent to the global heading of the robot.

Usage ​

Using PedroDriverControlled is as simple as:

kotlin
val driverControlled = PedroDriverControlled(
    Gamepads.gamepad1.leftStickY,
    Gamepads.gamepad1.leftStickX,
    Gamepads.gamepad1.rightStickX
)
driverControlled()

You can also run it field-centric by passing false for the optional robotCentric parameter:

kotlin
val driverControlled = PedroDriverControlled(
    Gamepads.gamepad1.leftStickY,
    Gamepads.gamepad1.leftStickX,
    Gamepads.gamepad1.rightStickX,
    false
)
driverControlled()