12 #include <wpi/raw_ostream.h>
14 #include "frc/drive/RobotDriveBase.h"
15 #include "frc/drive/Vector2d.h"
19 class SpeedController;
49 static constexpr
double kDefaultLeftMotorAngle = 60.0;
50 static constexpr
double kDefaultRightMotorAngle = 120.0;
51 static constexpr
double kDefaultBackMotorAngle = 270.0;
85 double rightMotorAngle,
double backMotorAngle);
107 void DriveCartesian(
double ySpeed,
double xSpeed,
double zRotation,
108 double gyroAngle = 0.0);
123 void DrivePolar(
double magnitude,
double angle,
double zRotation);
125 void StopMotor()
override;
139 bool reported =
false;
This class implements an extremely fast bulk output stream that can only output to a stream...
Definition: raw_ostream.h:45
Interface for speed controlling devices.
Definition: SpeedController.h:17
WPILib FRC namespace.
Definition: SPIAccelerometerSim.h:18
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
KilloughDrive(SpeedController &leftMotor, SpeedController &rightMotor, SpeedController &backMotor)
Construct a Killough drive with the given motors and default motor angles.
void DrivePolar(double magnitude, double angle, double zRotation)
Drive method for Killough platform.
A class for driving Killough drive platforms.
Definition: KilloughDrive.h:47
Definition: SendableBuilder.h:23
void DriveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle=0.0)
Drive method for Killough platform.
This is a 2D vector struct that supports basic vector operations.
Definition: Vector2d.h:15
Common base class for drive platforms.
Definition: RobotDriveBase.h:25