Cuttlefish/com.roboctopi.cuttlefish.controller/AdvancedMecanumController

AdvancedMecanumController

class AdvancedMecanumController(var rf_motor: Motor, var rb_motor: Motor, var lf_motor: Motor, var lb_motor: Motor, var localizer: Localizer)

Constructors

AdvancedMecanumController

constructor(rf_motor: Motor, rb_motor: Motor, lf_motor: Motor, lb_motor: Motor, localizer: Localizer)

Properties

var force: Pose

var lb_motor: Motor

lb_wheel_friction

var lb_wheel_friction: Pose

var lf_motor: Motor

lf_wheel_friction

var lf_wheel_friction: Pose

var localizer: Localizer

var max_force: Double

var motorRPM: Int

var motorTorque: Double

var rb_motor: Motor

rb_wheel_friction

var rb_wheel_friction: Pose

var rf_motor: Motor

rf_wheel_friction

var rf_wheel_friction: Pose

rotational_positioning_gain

var rotational_positioning_gain: Double

rotational_velocity_offset

var rotational_velocity_offset: Double

var rVelocityGain: Double

var target_radius: Double

target_rotation_err

var target_rotation_err: Double

translation_positioning_gain

var translation_positioning_gain: Double

translation_velocity_offset

var translation_velocity_offset: Int

var velocityGain: Double

var wheel_friction: Int

var wheel_radius: Int

var wheelXDistance: Double

var wheelYDistance: Double

Functions

calculateFriction

fun calculateFriction(velocity: Pose): Pose

fun follow_line(start: Pose, end: Pose, speed: Double, voltage: Double): Double

fun goTowardsGoal(goal: Pose, voltage: Double)

fun setForceVec(vec: Pose, voltage: Double)

fun setVelocity(velocity: Pose, voltage: Double)