Package io.github.frc5024.lib5k.bases.drivetrain.implementations

Class OpenLoopTankDriveTrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

io.github.frc5024.lib5k.bases.drivetrain.implementations.OpenLoopTankDriveTrain

All Implemented Interfaces:

Sendable, Subsystem, IDifferentialDrivebase, SafeSystem, java.lang.AutoCloseable

public abstract class OpenLoopTankDriveTrain
extends TankDriveTrain

OpenLoopTankDriveTrain is a TankDriveTrain implementation that can only be controlled manually. No autonomous control is available

Nested Class Summary

Nested classes/interfaces inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

AbstractDriveTrain.State

Field Summary

Fields inherited from class io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

maxSpeedPercent

Fields inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

logger, stateMachine

Constructor Summary

Constructors

Constructor	Description
OpenLoopTankDriveTrain()	Create a OpenLoopTankDriveTrain

Method Summary

Modifier and Type	Method	Description
protected void	handleAutonomousRotation(StateMetadata<AbstractDriveTrain.State> meta, Rotation2d goalHeading, Rotation2d epsilon)	State handler for autonomous rotation control
protected void	handleDrivingToPose(StateMetadata<AbstractDriveTrain.State> meta, Translation2d goalPose, Translation2d epsilon)	State handler for driving to a new pose autonomously
void	setGoalHeading(Rotation2d heading, Rotation2d epsilon)	Set a field-relative heading for the robot to face, and immediately start facing it.
void	setGoalPose(Pose2d pose, Translation2d epsilon)	Set a goal pose for the robot to be at, and immediately start driving to it.
void	setGoalPose(Translation2d pose, Translation2d epsilon)	Set a goal pose for the robot to be at, and immediately start driving to it.

Methods inherited from class io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

calculateThrottleCorrectionFactor, enableConstantCurvature, getFrontSide, getPose, getVelocity, handleDriverInputs, handleOpenLoopControl, handleVoltage, periodic, reset, resetEncoders, resetPose, setEncodersInverted, setFrontSide, setMaxSpeedPercent, setMotorsInverted, setOpenLoop, setOpenLoop, stop

Methods inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

close, createPathingCommand, createTurnCommand, enableBrakes, getCurrentHeading, getCurrentState, getSpeed, handleGearShift, isAtGoal, runIteration, setRampRate

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.frc5024.lib5k.hardware.common.drivebase.IDifferentialDrivebase

getLeftMeters, getRightMeters, getWidthMeters

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, setName, setName, setName

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Constructor Detail

OpenLoopTankDriveTrain

public OpenLoopTankDriveTrain()

Create a OpenLoopTankDriveTrain

Method Detail

handleAutonomousRotation

protected void handleAutonomousRotation(StateMetadata<AbstractDriveTrain.State> meta,
                                        Rotation2d goalHeading,
                                        Rotation2d epsilon)

Description copied from class: AbstractDriveTrain

State handler for autonomous rotation control

Specified by:

handleAutonomousRotation in class AbstractDriveTrain

Parameters:

meta - State metadata

goalHeading - Goal heading

epsilon - Rotation epsilon

handleDrivingToPose

protected void handleDrivingToPose(StateMetadata<AbstractDriveTrain.State> meta,
                                   Translation2d goalPose,
                                   Translation2d epsilon)

Description copied from class: AbstractDriveTrain

State handler for driving to a new pose autonomously

Specified by:

handleDrivingToPose in class AbstractDriveTrain

Parameters:

meta - State metadata

goalPose - Goal pose

epsilon - Epsilon around the goal pose in meters

setGoalHeading

public void setGoalHeading(Rotation2d heading,
                           Rotation2d epsilon)

Description copied from class: AbstractDriveTrain

Set a field-relative heading for the robot to face, and immediately start facing it.

Overrides:

setGoalHeading in class AbstractDriveTrain

Parameters:

heading - Field-relative heading goal

epsilon - Heading epsilon

setGoalPose

public void setGoalPose(Pose2d pose,
                        Translation2d epsilon)

Description copied from class: AbstractDriveTrain

Set a goal pose for the robot to be at, and immediately start driving to it.

Overrides:

setGoalPose in class AbstractDriveTrain

Parameters:

pose - Field-relative pose

epsilon - Pose epsilon in meters

setGoalPose

public void setGoalPose(Translation2d pose,
                        Translation2d epsilon)

Description copied from class: AbstractDriveTrain

Set a goal pose for the robot to be at, and immediately start driving to it.

Overrides:

setGoalPose in class AbstractDriveTrain

Parameters:

pose - Field-relative pose

epsilon - Pose epsilon in meters