MecanumBase

class MecanumBase(hardwareMap: HardwareMap, motorConfig: Map<String, DcMotorSimple.Direction> = Constants.Drive.MOTOR_CONFIG) : HardwareComponent

Constructors

constructor(hardwareMap: HardwareMap, motorConfig: Map<String, DcMotorSimple.Direction> = Constants.Drive.MOTOR_CONFIG)

open val name: String

open override fun init()

fun setDrivePower(pose: Pose, power: Double, maxMotorVelocityTps: Double)

Drive using robot-centric coordinates: x=strafe, y=forward, rotation=turn

Feedforward control for motion profiling

fun setZeroPowerBehavior(behavior: DcMotor.ZeroPowerBehavior)

fun stop()

open fun update()