12 #include <wpi/raw_ostream.h>
14 #include "frc/drive/RobotDriveBase.h"
15 #include "frc/smartdashboard/Sendable.h"
16 #include "frc/smartdashboard/SendableHelper.h"
20 class SpeedController;
100 void DriveCartesian(
double ySpeed,
double xSpeed,
double zRotation,
101 double gyroAngle = 0.0);
116 void DrivePolar(
double magnitude,
double angle,
double zRotation);
134 void StopMotor()
override;
145 double m_rightSideInvertMultiplier = -1.0;
147 bool reported =
false;
Common base class for drive platforms.
Definition: RobotDriveBase.h:24
bool IsRightSideInverted() const
Gets if the power sent to the right side of the drivetrain is multipled by -1.
void DriveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle=0.0)
Drive method for Mecanum platform.
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
void SetRightSideInverted(bool rightSideInverted)
Sets if the power sent to the right side of the drivetrain should be multipled by -1.
MecanumDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor, SpeedController &frontRightMotor, SpeedController &rearRightMotor)
Construct a MecanumDrive.
Interface for Sendable objects.
Definition: Sendable.h:17
void DrivePolar(double magnitude, double angle, double zRotation)
Drive method for Mecanum platform.
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16
Interface for speed controlling devices.
Definition: SpeedController.h:19
This class implements an extremely fast bulk output stream that can only output to a stream.
Definition: raw_ostream.h:47
A class for driving Mecanum drive platforms.
Definition: MecanumDrive.h:67
A helper class for use with objects that add themselves to SendableRegistry.
Definition: SendableHelper.h:28
Definition: SendableBuilder.h:23