NextControl/dev.nextftc.control.drive

Package-level declarations

Types

data class DriveInput(val x: Double, val y: Double, val rx: Double)

Raw driver input for a 3-DOF planar drivetrain.

DriveKinematics

interface DriveKinematics<Output>

Converts raw drive input into a drivetrain-specific output.

MecanumKinematics

class MecanumKinematics @JvmOverloads constructor(strafeCompensation: Double = 1.1) : DriveKinematics<MecanumWheelPowers>

Converts raw drive inputs into mecanum wheel powers.

MecanumWheelPowers

data class MecanumWheelPowers(val frontLeft: Double, val frontRight: Double, val backLeft: Double, val backRight: Double)

class TankKinematics : DriveKinematics<TankWheelPowers>

Converts raw drive inputs into tank/differential wheel powers.

TankWheelPowers

data class TankWheelPowers(val left: Double, val right: Double)