Package com.lightningrobotics.common.subsystem.drivetrain.differential

Class DifferentialDrivetrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.lightningrobotics.common.subsystem.drivetrain.LightningDrivetrain

com.lightningrobotics.common.subsystem.drivetrain.differential.DifferentialDrivetrain

All Implemented Interfaces:

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

public class DifferentialDrivetrain
extends LightningDrivetrain

Constructor Summary

Constructors

Constructor	Description
DifferentialDrivetrain(DifferentialGains gains, edu.wpi.first.wpilibj.motorcontrol.MotorController[] leftMotors, edu.wpi.first.wpilibj.motorcontrol.MotorController[] rightMotors, LightningIMU IMU, java.util.function.DoubleSupplier leftVelocity, java.util.function.DoubleSupplier rightVelocity, java.util.function.DoubleSupplier leftDistance, java.util.function.DoubleSupplier rightDistance)

Method Summary

Modifier and Type	Method	Description
void	arcadeDrive(double speed, double rot)
void	configureMotors()
PIDFController	getDrivePIDFController()
DrivetrainState	getDriveState()
DrivetrainState	getDriveTrainState()
FeedForwardController	getFeedForwardController()
LightningGains	getGains()
edu.wpi.first.math.geometry.Pose2d	getPose()
void	periodic()
void	resetPose()
void	setDriveSpeed(DrivetrainSpeed speed)
protected void	setLeftOutput(double output)
protected void	setRightOutput(double output)
void	setVoltage(double leftVoltage, double rightVoltage)
void	stop()
void	tankDrive(double leftPWR, double rightPWR)
protected void	withEachLeftMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)
protected void	withEachMotor(java.util.function.BiConsumer<edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController> op)
protected void	withEachMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)
protected void	withEachMotorIndexed(java.util.function.BiConsumer<edu.wpi.first.wpilibj.motorcontrol.MotorController,java.lang.Integer> op)
protected void	withEachRightMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)

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, register, setDefaultCommand, simulationPeriodic

Constructor Detail

DifferentialDrivetrain

public DifferentialDrivetrain(DifferentialGains gains,
                              edu.wpi.first.wpilibj.motorcontrol.MotorController[] leftMotors,
                              edu.wpi.first.wpilibj.motorcontrol.MotorController[] rightMotors,
                              LightningIMU IMU,
                              java.util.function.DoubleSupplier leftVelocity,
                              java.util.function.DoubleSupplier rightVelocity,
                              java.util.function.DoubleSupplier leftDistance,
                              java.util.function.DoubleSupplier rightDistance)

Method Detail

configureMotors

public void configureMotors()

Specified by:

configureMotors in class LightningDrivetrain

setDriveSpeed

public void setDriveSpeed(DrivetrainSpeed speed)

Specified by:

setDriveSpeed in class LightningDrivetrain

getGains

public LightningGains getGains()

Specified by:

getGains in class LightningDrivetrain

stop

public void stop()

Specified by:

stop in class LightningDrivetrain

periodic

public void periodic()

getDriveTrainState

public DrivetrainState getDriveTrainState()

getPose

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

Specified by:

getPose in class LightningDrivetrain

getDriveState

public DrivetrainState getDriveState()

Specified by:

getDriveState in class LightningDrivetrain

resetPose

public void resetPose()

getDrivePIDFController

public PIDFController getDrivePIDFController()

getFeedForwardController

public FeedForwardController getFeedForwardController()

arcadeDrive

public void arcadeDrive(double speed,
                        double rot)

tankDrive

public void tankDrive(double leftPWR,
                      double rightPWR)

setVoltage

public void setVoltage(double leftVoltage,
                       double rightVoltage)

setLeftOutput

protected void setLeftOutput(double output)

setRightOutput

protected void setRightOutput(double output)

withEachMotor

protected void withEachMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)

withEachLeftMotor

protected void withEachLeftMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)

withEachRightMotor

protected void withEachRightMotor(java.util.function.Consumer<edu.wpi.first.wpilibj.motorcontrol.MotorController> op)

withEachMotorIndexed

protected void withEachMotorIndexed(java.util.function.BiConsumer<edu.wpi.first.wpilibj.motorcontrol.MotorController,java.lang.Integer> op)

withEachMotor

protected void withEachMotor(java.util.function.BiConsumer<edu.wpi.first.wpilibj.motorcontrol.MotorController,edu.wpi.first.wpilibj.motorcontrol.MotorController> op)