Cuttlefish/com.roboctopi.cuttlefish.controller

Package-level declarations

Types

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

MecanumController

class MecanumController(var rf_motor: Motor, var rb_motor: Motor, var lf_motor: Motor, var lb_motor: Motor)

Class that stores chassis motors and can be used to steer the robot

MecanumForceController

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

MotorPositionController

class MotorPositionController(var goal: Double, var motor: Motor, var enc: RotaryEncoder, var useHardwareVelocity: Boolean = true)

Utility that uses a PID controller to control the position of a motor similarly to a servo.

PTPController

class PTPController(var controller: MecanumController, var localizer: Localizer)

Stands for Point-To-Point Controller. Is used to move the robot around the playing field autonomously using waypoints. Internally, this class uses a PD controller to control distance to the goal, and a PID controller to control rotation.

VelocityController

class VelocityController(p: Double, i: Double, d: Double, var feedForwardM: Double, var feedForwardB: Double)

Waypoint

class Waypoint