Package org.chsrobotics.lib.drive.differential

Class CurvatureDrive

java.lang.Object

org.chsrobotics.lib.drive.differential.CurvatureDrive

All Implemented Interfaces:

DifferentialDriveMode

public class CurvatureDrive
extends java.lang.Object
implements DifferentialDriveMode

Moves the robot in teleoperated mode similarly to ArcadeDrive, but with turning speeds dependent on linear speeds.

Constructor Summary

Constructors

Constructor	Description
CurvatureDrive(JoystickAxis linearAxis, JoystickAxis rotationalAxis, double driveModifier, double turnModifier, double driveLimiter, double turnLimiter, boolean invertReverseTurning)	Constructs a CurvatureDrive.

Method Summary

Modifier and Type	Method	Description
DifferentialDrivetrainInput	execute()	Calculate the drive output using the current joystick inputs.

Methods inherited from class java.lang.Object

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

Constructor Detail

CurvatureDrive

public CurvatureDrive(JoystickAxis linearAxis,
                      JoystickAxis rotationalAxis,
                      double driveModifier,
                      double turnModifier,
                      double driveLimiter,
                      double turnLimiter,
                      boolean invertReverseTurning)

Constructs a CurvatureDrive.

Parameters:

linearAxis - The JoystickAxis to be used for linear movement.

rotationalAxis - The JoystickAxis to be used for rotational movement.

driveModifier - A scalar to multiply the linear input by.

turnModifier - A scalar to multiply the rotational input by.

driveLimiter - The maximum rate of change of the linear input, in units of input / second. If equal to 0, no rate limiting will be applied.

turnLimiter - The maximum rate of change of the rotational input, in units of input / second. If equal to 0, no rate limiting will be applied.

invertReverseTurning - Whether turning in reverse should be inverted.

Method Detail

execute

public DifferentialDrivetrainInput execute()

Calculate the drive output using the current joystick inputs.

Specified by:

execute in interface DifferentialDriveMode

Returns:

The input, mapped to left and right side inputs.