Mecanum

java.lang.Object

dev.narlyx.tweetybird.Drivers.Mecanum

All Implemented Interfaces:: TweetyBird.Driver

public class Mecanum extends Object implements TweetyBird.Driver

A simple example driver for a Mecanum drivetrain setup.

Nested Class Summary

Nested Classes

Modifier and Type

Class

Description

static class

Mecanum.Builder

Used to configure and start the driver.
Constructor Summary

Constructors

Constructor

Description

Mecanum(Mecanum.Builder builder)

Constructor used to setup all variables from builder.
Method Summary

Modifier and Type

Method

Description

void

setHeading(double axial, double lateral, double yaw, double speed)

This method will power all four motors based on a target Axial, Lateral, Yaw, and Speed input

void

stopAndHold()

This method will stop all of the motors and attempt to lock them in place

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- Mecanum
  
  public Mecanum(Mecanum.Builder builder)
  
  Constructor used to setup all variables from builder.
  
  Parameters:
  
  builder - Passed builder
Method Details
- setHeading
  
  public void setHeading(double axial, double lateral, double yaw, double speed)
  
  This method will power all four motors based on a target Axial, Lateral, Yaw, and Speed input
  
  Specified by:
  
  setHeading in interface TweetyBird.Driver
  
  Parameters:
  
  axial - Value from -1 to 1 to favor the axial direction
  
  lateral - Value from -1 to 1 to favor the lateral direction
  
  yaw - Value from -1 to 1 to set rotation
  
  speed - Value from 0 to 1 to set how fast the bot will cary out axial and lateral
- stopAndHold
  
  public void stopAndHold()
  
  This method will stop all of the motors and attempt to lock them in place
  
  Specified by:
  
  stopAndHold in interface TweetyBird.Driver