TeamCode / org.firstinspires.ftc.teamcode.movement / TwoWheelDrive

TwoWheelDrive

open class TwoWheelDrive : DriveMotors

Class representing a simple, run-of-the-mill two wheel drive. We used to use this; now we are not.

This was one of the earliest classes made this year; I apologize in advance for the poor coding in this class.

Author
anli5005

Constructors

<init>

TwoWheelDrive(leftDrive: DcMotor, rightDrive: DcMotor)

Constructs a TwoWheelDrive using two DcMotors.

Properties

leftDrive	`var leftDrive: DcMotor` The DcMotor mounted to the robot's left wheel.
powerMultiplier	`var powerMultiplier: Double` Number at which to multiply any powers passed in by. Useful for reversing a TwoWheelDrive.
rightDrive	`var rightDrive: DcMotor` The DcMotor mounted to the robot's right wheel

Functions

forwardWithPower	`open fun forwardWithPower(power: Double): Unit`
forwardWithSpeed	`open fun forwardWithSpeed(speed: Double): Unit`
getMotors	`open fun getMotors(): Array<DcMotor>`
isBusy	`open fun isBusy(): Boolean`
moveFor	`open fun moveFor(left: Int, right: Int, leftPower: Double, rightPower: Double): Unit` `open fun moveFor(amount: Int, power: Double): Unit`
reset	`open fun reset(): Unit` Stops and resets each of the motors and their encoders.
setDirections	`open fun setDirections(left: Direction, right: Direction): Unit` Calls setDirection on each of the DcMotors.
setLeftMode	`open fun setLeftMode(mode: RunMode): Unit` Sets the left motor to a given mode.
setLeftPower	`open fun setLeftPower(power: Double): Unit` Moves the left motor at a given power (i.e. without encoder).
setLeftSpeed	`open fun setLeftSpeed(speed: Double): Unit` Moves the left motor at a given speed (i.e. with encoder).
setMotorMode	`open fun setMotorMode(mode: RunMode): Unit` Sets both motors to a given mode.
setPowers	`open fun setPowers(left: Double, right: Double): Unit` Moves both motors at given powers (i.e. without encoder).
setRightMode	`open fun setRightMode(mode: RunMode): Unit` Sets the right motor to a given mode.
setRightPower	`open fun setRightPower(power: Double): Unit` Moves the right motor at a given power (i.e. without encoder).
setRightSpeed	`open fun setRightSpeed(speed: Double): Unit` Moves the right motor at a given speed (i.e. with encoder).
setSpeeds	`open fun setSpeeds(left: Double, right: Double): Unit` Moves both motors at given speeds (i.e. with encoder).
standard	`open static fun standard(hardwareMap: HardwareMap): TwoWheelDrive` Given only a hardware map, constructs a ready-to-use two wheel drive with preset motors and parameters.
steerWithPower	`open fun steerWithPower(power: Double, turn: Double): Unit`
steerWithSpeed	`open fun steerWithSpeed(speed: Double, turn: Double): Unit`
stop	`open fun stop(): Unit`
waitUntilAvailable	`open fun waitUntilAvailable(): Unit`