TeamCode/org.firstinspires.ftc.teamcode.api/TriWheels

TriWheels

object TriWheels : API

An API for controlling the wheels of the triangle robot.

Properties

blue

lateinit var blue: DcMotorEx

BLUE_ANGLE

const val BLUE_ANGLE: Double

dependencies

open val dependencies: Set<API>

Configures all APIs that must be initialized in order to use this API.

green

lateinit var green: DcMotorEx

GREEN_ANGLE

const val GREEN_ANGLE: Double

isInit

val isInit: Boolean

Returns true if init has been called for this opmode.

isLinear

open val isLinear: Boolean = false

Defines whether this API requires features from LinearOpMode.

red

lateinit var red: DcMotorEx

RED_ANGLE

const val RED_ANGLE: Double

Functions

compute

fun compute(polar: Polar2d): Triple<Double, Double, Double>

fun compute(radians: Double, magnitude: Double): Triple<Double, Double, Double>

Returns the ratio of how much each wheel should spin for given angle in radians and strength in magnitude.

drive

fun drive(polar: Polar2d, rotation: Double = 0.0)

fun drive(radians: Double, magnitude: Double, rotation: Double = 0.0)

Makes the robot drive in a certain direction radians with a given strength magnitude.

init

open override fun init(opMode: OpMode)

Initializes this API.

inverse

fun inverse(ratio: Triple<Double, Double, Double>): Vector2d

power

fun power(redPower: Double, greenPower: Double, bluePower: Double)

Sets the power of each wheel respectively.

rotate

fun rotate(power: Double)

Rotates all of the wheels with a given power.

stop

fun stop()

Makes all 3 wheels stop.

stopAndResetMotors

fun stopAndResetMotors()

This function resets all 3 motors.

wheels

fun wheels(): Array<DcMotorEx>

Returns an array containing red, green, and blue.