Package org.chsrobotics.lib.drive.differential

Class MixedDrive

java.lang.Object

org.chsrobotics.lib.drive.differential.MixedDrive

All Implemented Interfaces:

DifferentialDriveMode

public class MixedDrive
extends Object
implements DifferentialDriveMode

DifferentialDriveMode composed of any number of DifferentialDriveModes, with configurable influences over the total value.

Constructor Summary

Constructors

Constructor	Description
MixedDrive(Map<DifferentialDriveMode,Double> driveModes)	Constructs a MixedDrive.

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

MixedDrive

public MixedDrive(Map<DifferentialDriveMode,Double> driveModes)

Constructs a MixedDrive.

Parameters:

driveModes - Map of drive modes to the influence they should carry in the total. Influences must add to 1.

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.