io.github.thunderbots.lightning.robot

Class Robot

java.lang.Object

io.github.thunderbots.lightning.robot.Robot

public abstract class Robot
extends java.lang.Object

Robot is an abstract class that should be extended by any class representing a physical robot.

Author:

Pranav Mathur

Field Summary

Fields

Modifier and Type	Field and Description
private DriveSystem	drive The drive system that controls the movement of this robot.

Constructor Summary

Constructors

Constructor and Description
Robot() Constructs a new Robot and initializes the drive system

Method Summary

Modifier and Type	Method and Description
DriveSystem	createDriveSystem() Constructs a DriveSystem that the robot should use.
DriveSystem	getDrive() Gets a reference to the DriveSystem being used to control the robot.
protected abstract java.lang.String[]	getDriveMotorNames() Gets an array of Strings representing the names of the motors used for driving.
abstract void	initializeRobot() Initializes the robot.

Methods inherited from class java.lang.Object

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

Field Detail

drive

private DriveSystem drive

The drive system that controls the movement of this robot.

Constructor Detail

Robot

public Robot()

Constructs a new Robot and initializes the drive system

Method Detail

getDriveMotorNames

protected abstract java.lang.String[] getDriveMotorNames()

Gets an array of Strings representing the names of the motors used for driving.

If the robot has four motors, this array should be in the format of:

  [front left, front right, back left, back right]
 

If the robot has only two motors, this array should be in the format of:

  [left, right]
 

Returns:

the names of the driving motors.

initializeRobot

public abstract void initializeRobot()

Initializes the robot. The implementation of this method should be used in place of a constructor.

getDrive

public DriveSystem getDrive()

Gets a reference to the DriveSystem being used to control the robot.

Returns:

the drive system for this robot.

See Also:

drive

createDriveSystem

public DriveSystem createDriveSystem()

Constructs a DriveSystem that the robot should use. TankDrive is assumed by default, but this can be changed on an individual basis by overriding this method.

Returns:

a constructed DriveSystem that is specific to this robot or op mode.