Cuttlefish/com.roboctopi.cuttlefish.controller/MecanumForceController

MecanumForceController

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

Constructors

MecanumForceController

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

Properties

var force: Pose

var lb_motor: Motor

var lb_wheel_force: Double

var lb_wheel_power: Double

var lb_wheel_speed: Double

lb_wheel_target_diff

var lb_wheel_target_diff: Double

var lf_motor: Motor

var lf_wheel_force: Double

var lf_wheel_power: Double

var lf_wheel_speed: Double

lf_wheel_target_diff

var lf_wheel_target_diff: Double

var localizer: Localizer

var motorRPM: Int

var motorTorque: Double

var rb_motor: Motor

var rb_wheel_force: Double

var rb_wheel_power: Double

var rb_wheel_speed: Double

rb_wheel_target_diff

var rb_wheel_target_diff: Double

var rf_motor: Motor

var rf_wheel_force: Double

var rf_wheel_power: Double

var rf_wheel_speed: Double

rf_wheel_target_diff

var rf_wheel_target_diff: Double

side_rotation_coeffiecient

var side_rotation_coeffiecient: Double

var wheel_radius: Int

var wheelXDistance: Double

var wheelYDistance: Double

Functions

fun moveToPoint(target: Pose, voltage: Double)

setForceLimitedVec

fun setForceLimitedVec(vec: Pose, force_limit: Double, voltage: Double)

fun setForceVec(vec: Pose, voltage: Double)

fun setVelocity(velocity: Pose, voltage: Double)