Package org.edu_nation.easy_ftc.mechanism

Class Drive

java.lang.Object

org.edu_nation.easy_ftc.mechanism.Drive

public class Drive
extends Object

Implements a drivetrain by extending the functionality of MotorMechanism

See Also:

• Drive.Builder
• Drive.Direction
• Drive.Type
• Drive.Layout

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Drive.Builder	Construct a Drive object using the builder design pattern
static enum	Drive.Direction	Directions that can be passed to command(direction, measurement, power)
static enum	Drive.Layout	Drivetrain layouts that can be passed to Drive.Builder.layout(layout)
static enum	Drive.Type	Drivetrain types that can be passed to Drive.Builder.type(type)

Method Summary

Modifier and Type	Method	Description
void	command(Drive.Direction direction, double measurement, double power)	Initiate an automated drivetrain movement
void	command(Drive.Direction direction, double measurement, double power, org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit)	Initiate an automated drivetrain turn using the IMU's gyro
void	control()	Enable teleoperated drivetrain movement with gamepad (joysticks), with multiplier = 1.0
void	control(double multiplier)	Enable teleoperated drivetrain movement with gamepad (joysticks), scaling by multiplier

Methods inherited from class java.lang.Object

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

Method Details

control

public void control(double multiplier)

Enable teleoperated drivetrain movement with gamepad (joysticks), scaling by multiplier

Parameters:

multiplier - fraction of total power/velocity to use for mechanism control at given input value

Throws:

IllegalArgumentException - if multiplier is not in the interval (0, 1]

control

public void control()

Enable teleoperated drivetrain movement with gamepad (joysticks), with multiplier = 1.0

command

public void command(Drive.Direction direction,
 double measurement,
 double power)

Initiate an automated drivetrain movement

Parameters:

direction - direction to move the mechanism; see Drive.Direction for accepted values

measurement - time(s) or distance to move the mechanism

power - fraction of total power/velocity to use for mechanism command

Throws:

NullPointerException - if direction is null

IllegalArgumentException - if direction is an unexpected value

IllegalArgumentException - if measurement < 0

IllegalArgumentException - if power is not in the interval (0, 1]

command

public void command(Drive.Direction direction,
 double measurement,
 double power,
 org.firstinspires.ftc.robotcore.external.navigation.AngleUnit unit)

Initiate an automated drivetrain turn using the IMU's gyro

Parameters:

direction - direction to move the mechanism; see Drive.Direction for accepted values (one of: ROTATE_LEFT, ROTATE_RIGHT)

measurement - angle to rotate

power - fraction of total power/velocity to use for mechanism command

unit - AngleUnit to use for the measurement (one of: DEGREES, RADIANS)

Throws:

NullPointerException - if direction is null

NullPointerException - if unit is null

IllegalArgumentException - if direction is an unexpected value

IllegalArgumentException - if measurement < 0

IllegalArgumentException - if power is not in the interval (0, 1]