io.github.thunderbots.lightning.control.layout

Class MecanumControlLayout

java.lang.Object

io.github.thunderbots.lightning.control.layout.MecanumControlLayout

All Implemented Interfaces:

ControlLayout

public class MecanumControlLayout
extends java.lang.Object
implements ControlLayout

A MecanumControlLayout is a ControlLayout that can control a robot with a mecanum drive system. There is no 'standard' accepted way to control a mecanum drive system, but in this implementation, the y-axis of the left thumbstick is responsible for forward/backward movement, the x-axis of the left thumbstick is responsible for left/right strafing movement, and the x-axis of the right thumbstick controls clockwise/counter-clockwise rotation of the robot.

Author:

Jake Ohara

Constructor Summary

Constructors

Constructor and Description
MecanumControlLayout()

Method Summary

Modifier and Type	Method and Description
double	getClockwisePower(Joystick joy) Gets the clockwise power that should be sent to the robot based on the current state of the given joystick.
double	getForwardPower(Joystick joy) Gets the forward power that should be sent to the robot based on the current state of the given joystick.
double	getRightStrafePower(Joystick joy) Gets the right strafe power that should be sent to the robot based on the current state of the given joystick.

Methods inherited from class java.lang.Object

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

Constructor Detail

MecanumControlLayout

public MecanumControlLayout()

Method Detail

getForwardPower

public double getForwardPower(Joystick joy)

Description copied from interface: ControlLayout

Gets the forward power that should be sent to the robot based on the current state of the given joystick.

Specified by:

getForwardPower in interface ControlLayout

Parameters:

joy - the joystick to use for power calculations.

Returns:

the forward drive power of the robot.

getClockwisePower

public double getClockwisePower(Joystick joy)

Description copied from interface: ControlLayout

Gets the clockwise power that should be sent to the robot based on the current state of the given joystick.

Specified by:

getClockwisePower in interface ControlLayout

Parameters:

joy - the joystick to use for power calculations.

Returns:

the clockwise drive power of the robot.

getRightStrafePower

public double getRightStrafePower(Joystick joy)

Gets the right strafe power that should be sent to the robot based on the current state of the given joystick.

Parameters:

joy - the joystick to use for power calculations.

Returns:

the right strafe power of the robot.