Package frc.robot.systems.drive.controllers

Class HolonomicController

java.lang.Object
frc.robot.systems.drive.controllers.HolonomicController
public class HolonomicController extends Object

  • Field Details

  • Constructor Details

    • HolonomicController

      public HolonomicController()

  • Method Details

    • setConstraintType

      public void setConstraintType(HolonomicController.ConstraintType pType)

    • reset

      public void reset(edu.wpi.first.math.geometry.Pose2d pStartPose, edu.wpi.first.math.geometry.Pose2d pGoalPose)

    • reset

      public void reset(edu.wpi.first.math.geometry.Pose2d pRobotPose, edu.wpi.first.math.kinematics.ChassisSpeeds pRobotChassisSpeeds, edu.wpi.first.math.geometry.Pose2d pGoalPose)

    • calculate

      public edu.wpi.first.math.kinematics.ChassisSpeeds calculate(edu.wpi.first.math.geometry.Pose2d pGoalPose, edu.wpi.first.math.geometry.Pose2d pCurrentPose)

    • calculate

      public edu.wpi.first.math.kinematics.ChassisSpeeds calculate(edu.wpi.first.math.geometry.Pose2d pGoalPose, edu.wpi.first.math.kinematics.ChassisSpeeds pGoalSpeed, edu.wpi.first.math.geometry.Pose2d pCurrentPose)

    • atGoal

      public boolean atGoal()

    • getPositionGoal

      public edu.wpi.first.math.geometry.Pose2d getPositionGoal()

    • getPositionSetpoint

      public edu.wpi.first.math.geometry.Pose2d getPositionSetpoint()

    • atPositionTimeout

      public boolean atPositionTimeout()

    • getVelocitySetpoint

      public edu.wpi.first.math.kinematics.ChassisSpeeds getVelocitySetpoint()

    • getPoseError

      public edu.wpi.first.math.geometry.Pose2d getPoseError()

    • updateAlignmentControllers

      public void updateAlignmentControllers()