Package org.hyperonline.hyperlib.driving

Class PolarDriveParams

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double angle()
      get the angle
      void drive​(edu.wpi.first.wpilibj.drive.DifferentialDrive driveTrain, double currentGyro)
      Drive the robot.
      void drive​(edu.wpi.first.wpilibj.drive.MecanumDrive driveTrain, double currentGyro)
      Drive the robot.
      double magnitude()
      get the magnitude
      double rotate()
      get the rotation

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • PolarDriveParams

        public PolarDriveParams​(double magnitude,
                        double angle,
                        double rotate)
        Construct a new PolarDriveParams.
        Parameters:
        magnitude - the amount to move
        angle - the angle to move at
        rotate - the rotation to apply

    • Method Detail

      • magnitude

        public double magnitude()
        get the magnitude
        Returns:
        the magnitude

      • angle

        public double angle()
        get the angle
        Returns:
        the angle

      • rotate

        public double rotate()
        get the rotation
        Returns:
        the z-axis rotation

      • drive

        public void drive​(edu.wpi.first.wpilibj.drive.DifferentialDrive driveTrain,
                  double currentGyro)
           throws WrongDriveTypeException
        Drive the robot. This method should not call any "stateful" methods of the drivetrain (anything that starts with "set") to allow one to switch between modes easily. TODO: pass a wrapper of DifferentialDrive, which only allows certain methods TODO: remove currentGyro. This is pretty irrelevant, and can be obtained in other ways.
        Specified by:
        drive in interface DriveParameters
        Parameters:
        driveTrain - A DifferentialDrive object representing the drivetrain of the robot.
        currentGyro - The current gyro heading, if a gyro exists. Nothing should use this right now, so just pass in 0.0 if you're not sure.
        Throws:
        WrongDriveTypeException - if an incompatible Drive type is used

      • drive

        public void drive​(edu.wpi.first.wpilibj.drive.MecanumDrive driveTrain,
                  double currentGyro)
        Drive the robot. This method should not call any "stateful" methods of the drivetrain (anything that starts with "set") to allow one to switch between modes easily.
        Specified by:
        drive in interface DriveParameters
        Parameters:
        driveTrain - A MecanumDrive object representing the drivetrain of the robot.
        currentGyro - The current gyro heading, if a gyro exists. Nothing should use this right now, so just pass in 0.0 if you're not sure.