Package org.firstinspires.ftc.teamcode.fy23.robot.subsystems

Class RRMecanumDrive.Parameters

java.lang.Object
org.firstinspires.ftc.teamcode.fy23.robot.subsystems.RRMecanumDrive.Parameters
Enclosing interface:
RRMecanumDrive
public static class RRMecanumDrive.Parameters extends Object
Contains motor names and settings - usually part of a set of Robot parameters. For fields without descriptions, see RoadRunner Quickstart's SampleMecanumDrive.

  • Field Details

    • present

      public final boolean present
      You already set this in the constructor and cannot set it again.

    • dc

      public final RRMecanumDrive.DriveConstants dc
      You already set this in the constructor and cannot set it again.

    • imu

      public FriendlyIMU imu
      Ignore this - it will be handled by the Robot class

    • leftFrontMotor

      public com.qualcomm.robotcore.hardware.DcMotorEx leftFrontMotor
      The motor object on the left front corner of the drivebase, already instantiated

    • rightFrontMotor

      public com.qualcomm.robotcore.hardware.DcMotorEx rightFrontMotor
      The motor object on the right front corner of the drivebase, already instantiated

    • leftBackMotor

      public com.qualcomm.robotcore.hardware.DcMotorEx leftBackMotor
      The motor object on the left back corner of the drivebase, already instantiated

    • rightBackMotor

      public com.qualcomm.robotcore.hardware.DcMotorEx rightBackMotor
      The motor object on the right back corner of the drivebase, already instantiated

    • accelLimiter

      public final AccelLimiter accelLimiter
      You already set this in the constructor and cannot set it again.

    • useAccelLimiter

      public boolean useAccelLimiter
      Whether or not to apply acceleration control. If this is set to false, the accelLimiter parameter does not need to be populated. Defaults to true.

    • stopwatch

      public com.qualcomm.robotcore.util.ElapsedTime stopwatch
      An ElapsedTime or MockElapsedTime object, already instantiated

    • runMode

      public com.qualcomm.robotcore.hardware.DcMotor.RunMode runMode
      Applies to all motors

    • zeroPowerBehavior

      public com.qualcomm.robotcore.hardware.DcMotor.ZeroPowerBehavior zeroPowerBehavior
      Applies to all motors

    • TRANSLATIONAL_PID

      public com.acmerobotics.roadrunner.control.PIDCoefficients TRANSLATIONAL_PID
      For RoadRunner - learn more at learnroadrunner.com

    • HEADING_PID

      public com.acmerobotics.roadrunner.control.PIDCoefficients HEADING_PID
      For RoadRunner - learn more at learnroadrunner.com

    • LATERAL_MULTIPLIER

      public double LATERAL_MULTIPLIER
      For RoadRunner - learn more at learnroadrunner.com

    • VX_WEIGHT

      public double VX_WEIGHT
      For RoadRunner - learn more at learnroadrunner.com

    • VY_WEIGHT

      public double VY_WEIGHT
      For RoadRunner - learn more at learnroadrunner.com

    • OMEGA_WEIGHT

      public double OMEGA_WEIGHT
      For RoadRunner - learn more at learnroadrunner.com

    • batteryVoltageSensor

      public com.qualcomm.robotcore.hardware.VoltageSensor batteryVoltageSensor
      Ignore this - it will be handled by the Robot class

  • Constructor Details

    • Parameters

      public Parameters(boolean present, RRMecanumDrive.DriveConstants dc, AccelLimiter accelLimiter)
      Create a Parameters object and provide parameters that don't have default values.
      Parameters:
      present - Is this subsystem installed on this robot?
      dc - Use the RRMecanumDrive.DriveConstants class included in the RRMecanumDrive interface.
      accelLimiter - The AccelLimiter object to be used for drivebase acceleration control, already instantiated and configured