NextFTC Robot/dev.nextftc.robot.drive

Package-level declarations

Properties

Multiplier applied to all drive input; re-read live each loop so it can be adjusted mid-match (e.g. slow-mode).

fun arcadeDrive(frontLeft: NextMotor, frontRight: NextMotor, backLeft: NextMotor, backRight: NextMotor, gamepad: Gamepad, kinematics: TankKinematics = TankKinematics()): Command

Command that drives a differential drivetrain arcade-style (one stick controls drive, one stick controls turn) from gamepad's sticks.

fun mecanumDrive(frontLeft: NextMotor, frontRight: NextMotor, backLeft: NextMotor, backRight: NextMotor, gamepad: Gamepad, kinematics: MecanumKinematics = MecanumKinematics()): Command

Command that drives a mecanum drivetrain from gamepad's sticks.

fun mecanumDriveFieldCentric(frontLeft: NextMotor, frontRight: NextMotor, backLeft: NextMotor, backRight: NextMotor, gamepad: Gamepad, heading: Supplier<Double>, kinematics: MecanumKinematics = MecanumKinematics()): Command

Command that drives a mecanum drivetrain from gamepad's sticks, field-centric.

fun tankDrive(frontLeft: NextMotor, frontRight: NextMotor, backLeft: NextMotor, backRight: NextMotor, gamepad: Gamepad): Command

Command that drives a differential drivetrain tank-style (one stick controls left wheels, one stick controls right wheels) from gamepad's sticks.