Package org.chsrobotics.lib.drive.differential

Class ArcadeDrive

java.lang.Object

org.chsrobotics.lib.drive.differential.ArcadeDrive

All Implemented Interfaces:

DifferentialDriveMode

public class ArcadeDrive
extends Object
implements DifferentialDriveMode

Moves the robot in teleop using separate inputs for linear and rotational motion.

Constructor Summary

Constructors

Constructor	Description
ArcadeDrive(JoystickAxis linearAxis, JoystickAxis rotationalAxis, double driveModifier, double turnModifier, double driveLimiter, double turnLimiter)	Constructs an ArcadeDrive.

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 Details

ArcadeDrive

public ArcadeDrive(JoystickAxis linearAxis,
 JoystickAxis rotationalAxis,
 double driveModifier,
 double turnModifier,
 double driveLimiter,
 double turnLimiter)

Constructs an ArcadeDrive.

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.

Method Details

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.