ftc/com.rowanmcalpin.nextftc.ftc.driving/MecanumDriverControlled

MecanumDriverControlled

class MecanumDriverControlled @JvmOverloads constructor(motors: Array<out Controllable>, val driveSupplier: () -> Float, val strafeSupplier: () -> Float, val turnSupplier: () -> Float, robotCentric: Boolean = true, imu: IMU? = null) : Command

Drives a mecanum drivetrain

Parameters

motors

an array of your drive motors in the following order: left front, right front, left back, right back

driveSupplier

a float supplier for the drive (forward/backward) signal

strafeSupplier

a float supplier for the strafe (left/right) signal

turnSupplier

a float supplier for the turn signal

robotCentric

whether to use robot centric or field centric movement

Constructors

MecanumDriverControlled

@JvmOverloads

constructor(motors: Array<out Controllable>, driveJoystick: Joystick, turnJoystick: Joystick, robotCentric: Boolean = true, imu: IMU? = null)

@JvmOverloads

constructor(motors: Array<out Controllable>, gamepad: GamepadEx, robotCentric: Boolean = true, imu: IMU? = null)

@JvmOverloads

constructor(motors: Array<out Controllable>, driveSupplier: () -> Float, strafeSupplier: () -> Float, turnSupplier: () -> Float, robotCentric: Boolean = true, imu: IMU? = null)