Package com.lightningrobotics.common.subsystem.drivetrain

Class LightningDrivetrain

  • All Implemented Interfaces:
    edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
    Direct Known Subclasses:
    DifferentialDrivetrain, SwerveDrivetrain
    public abstract class LightningDrivetrain
extends edu.wpi.first.wpilibj2.command.SubsystemBase

    • Method Summary

      All Methods Instance Methods Abstract Methods 
      Modifier and Type Method Description
      abstract void configureMotors()  
      abstract DrivetrainState getDriveState()  
      abstract LightningGains getGains()  
      abstract edu.wpi.first.math.geometry.Pose2d getPose()  
      abstract void setDriveSpeed​(DrivetrainSpeed speed)  
      abstract void stop()  

      • 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

        getCurrentCommand, getDefaultCommand, periodic, register, setDefaultCommand, simulationPeriodic

    • Constructor Detail

      • LightningDrivetrain

        public LightningDrivetrain()

    • Method Detail

      • configureMotors

        public abstract void configureMotors()

      • setDriveSpeed

        public abstract void setDriveSpeed​(DrivetrainSpeed speed)

      • stop

        public abstract void stop()

      • getPose

        public abstract edu.wpi.first.math.geometry.Pose2d getPose()