Package xbot.common.subsystems.drive

Class MockDriveSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.subsystems.drive.BaseDriveSubsystem

xbot.common.subsystems.drive.MockDriveSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport

@Singleton
public class MockDriveSubsystem
extends BaseDriveSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
XCANMotorController	fl
XCANMotorController	fr
XCANMotorController	leftTank
double	leftTotalDistance
XCANMotorController	rightTank
double	rightTotalDistance
XCANMotorController	rl
XCANMotorController	rr
double	transverseTotalDistance

Fields inherited from class xbot.common.subsystems.drive.BaseDriveSubsystem

kThrottleDeadband, lastRawCommandedDirection, lastRawCommandedRotation

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables, log

Constructor Summary

Constructors

Constructor	Description
MockDriveSubsystem(XCANMotorController.XCANMotorControllerFactory canTalonFactory, PIDManager.PIDManagerFactory pf)

Method Summary

Modifier and Type	Method	Description
void	changeIntoMecanum()
void	changeIntoNoDrive()
void	changeIntoTankDrive()
void	changePositionalPid(PIDManager p)
void	changeRotationalPid(PIDManager p)
double	getLeftTotalDistance()	Returns the total distance tracked by the encoder - On the LEFT side of the robot - Pointing in the direction of +Y travel
PIDManager	getPositionalPid()
double	getRightTotalDistance()	Returns the total distance tracked by the encoder - On the RIGHT side of the robot - Pointing in the direction of +Y travel
PIDManager	getRotateDecayPid()
PIDManager	getRotateToHeadingPid()
double	getTransverseDistance()	Returns the total distance tracked by the encoder - In the center of the robot - Pointing in the direction of +X travel
void	move(XYPair translate, double rotate)

Methods inherited from class xbot.common.subsystems.drive.BaseDriveSubsystem

arcadeDrive, cheesyDrive, drive, drive, drive, fieldOrientedDrive, getMaxOutput, setQuickTurn, stop, tankDrive

Methods inherited from class xbot.common.command.BaseSubsystem

getPrefix, periodic, refreshDataFrame, registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

leftTotalDistance

public double leftTotalDistance

rightTotalDistance

public double rightTotalDistance

transverseTotalDistance

public double transverseTotalDistance

leftTank

public XCANMotorController leftTank

rightTank

public XCANMotorController rightTank

fl

public XCANMotorController fl

fr

public XCANMotorController fr

rl

public XCANMotorController rl

rr

public XCANMotorController rr

Constructor Details

MockDriveSubsystem

@Inject
public MockDriveSubsystem(XCANMotorController.XCANMotorControllerFactory canTalonFactory,
 PIDManager.PIDManagerFactory pf)

Method Details

changePositionalPid

public void changePositionalPid(PIDManager p)

changeRotationalPid

public void changeRotationalPid(PIDManager p)

move

public void move(XYPair translate,
 double rotate)

Specified by:

move in class BaseDriveSubsystem

changeIntoNoDrive

public void changeIntoNoDrive()

changeIntoTankDrive

public void changeIntoTankDrive()

changeIntoMecanum

public void changeIntoMecanum()

getLeftTotalDistance

public double getLeftTotalDistance()

Description copied from class: BaseDriveSubsystem

Returns the total distance tracked by the encoder - On the LEFT side of the robot - Pointing in the direction of +Y travel

Specified by:

getLeftTotalDistance in class BaseDriveSubsystem

getRightTotalDistance

public double getRightTotalDistance()

Description copied from class: BaseDriveSubsystem

Returns the total distance tracked by the encoder - On the RIGHT side of the robot - Pointing in the direction of +Y travel

Specified by:

getRightTotalDistance in class BaseDriveSubsystem

getTransverseDistance

public double getTransverseDistance()

Description copied from class: BaseDriveSubsystem

Returns the total distance tracked by the encoder - In the center of the robot - Pointing in the direction of +X travel

Specified by:

getTransverseDistance in class BaseDriveSubsystem

getPositionalPid

public PIDManager getPositionalPid()

Specified by:

getPositionalPid in class BaseDriveSubsystem

getRotateToHeadingPid

public PIDManager getRotateToHeadingPid()

Specified by:

getRotateToHeadingPid in class BaseDriveSubsystem

getRotateDecayPid

public PIDManager getRotateDecayPid()

Specified by:

getRotateDecayPid in class BaseDriveSubsystem