core/com.asiankoala.koawalib.command.commands/MecanumCmd

MecanumCmd

open class MecanumCmd @JvmOverloads constructor( drive: KMecanumDrive, leftStick: KStick, rightStick: KStick, scalars: Pose = Pose(1.0, 1.0, 1.0), cubics: Pose = Pose(1.0, 1.0, 1.0), constants: Pose = Pose(1.0, 1.0, 1.0)) : Cmd

TeleOp drive control command vector drive power is calculated with the function: f(x) = max(0, s * x * (kx^3 - k + 1)) * sgn(x) e.g. xPower = max(0, xScalar * leftStick.x * (xCubic * leftStick.x ^ 3 - xCubic + 1) see the desmos graph for an understanding of it

See also

https://www.desmos.com/calculator/kpc9dcrlrc If not using field centric drive, leave everything after rScalar as default

Parameters

KMecanumDrive reference

left gamepad joystick

right gamepad joystick

Constructors

fun MecanumCmd( drive: KMecanumDrive, leftStick: KStick, rightStick: KStick, scalars: Pose = Pose(1.0, 1.0, 1.0), cubics: Pose = Pose(1.0, 1.0, 1.0), constants: Pose = Pose(1.0, 1.0, 1.0))

Properties

open override val isFinished: Boolean = false

Finish state of command

Inherited properties

val name: String

The name of the command

Functions

open override fun execute()

Main part of a command, called while command is running.

Inherited functions

fun alongWith(vararg parallel: Cmd): ParallelGroup

Run n commands in parallel with this command, ending when all commands have ended

fun andPause(seconds: Double): SequentialGroup

Pause for n seconds after this command ends

fun andThen(vararg next: Cmd): SequentialGroup

Runs n commands sequentially after this command

fun cancel()

Cancel command. KScheduler.cancel

fun cancelIf(condition: () -> Boolean): RaceGroup

Cancels this command upon fulfilling a condition

fun deadlineWith(vararg parallel: Cmd): DeadlineGroup

Runs n commands in parallel with this command, ending when this command ends

open fun end()

Final part of a command, called when command finishes.

open fun initialize()

First part of running a command, called on start of command.

fun raceWith(vararg parallel: Cmd): RaceGroup

Run n commands in parallel with this command, ending when any of the commands has ended

Schedule command. Syntax sugar for KScheduler.schedule

open override fun toString(): String

operator fun unaryPlus()

fun waitUntil(condition: () -> Boolean): SequentialGroup

Wait until a condition has been fulfilled to run this command

fun withName(commandName: String): Cmd

Name the current command, which shows up in the logger.

fun withTimeout(time: Double): RaceGroup

Cancels this command after some time if not finished

Inheritors

FieldCentricCmd