package Ġk y ber lib . me chan isms . drive train Ċ Ċ import Ġedu . wpi . first . wp ilib j . geometry . Pose 2 d Ċ import Ġedu . wpi . first . wp ilib j . geometry . Translation 2 d Ċ import Ġedu . wpi . first . wp ilib j . kin em atics . Ch assis Speed s Ċ import Ġedu . wpi . first . wp ilib j . kin em atics . M ec an um Drive Kin em atics Ċ import Ġedu . wpi . first . wp ilib j . kin em atics . M ec an um Drive Od ometry Ċ import Ġedu . wpi . first . wp ilib j . kin em atics . M ec an um Drive Wheel Speed s Ċ import Ġedu . wpi . first . wp ilib j 2 . command . Subsystem Base Ċ import Ġk y ber lib . command . Debug Ċ import Ġk y ber lib . math . units . debug Values Ċ import Ġk y ber lib . math . units . extensions . K Rotation Ċ import Ġk y ber lib . math . units . extensions . degrees Ċ import Ġk y ber lib . math . units . extensions . meters PerSecond Ċ import Ġk y ber lib . math . units . zero Pose Ċ import Ġk y ber lib . motor control . K Motor Controller Ċ import Ġk y ber lib . sensors . gy ros . KG yro Ċ Ċ /** Ċ Ġ* ĠPre - made ĠDrive train Ġfor ĠM ec an um Wheel s . Ċ Ġ* Ġ@ param Ġpackages Ġpairs Ġof Ġ< wheel Position , Ġwheel Ġmotor > Ġ( currently Ġrequires Ġ 4 Ġmot ors Ġin Ġfront Left , Ġfront Right , Ġback Left , Ġback Right Ġorder ) Ċ Ġ* Ġ@ param Ġgyro Ġa ĠK G yro Ġthat Ġwill Ġprovide Ġheading Ġinformation Ċ Ġ*/ Ċ class ĠM ec an um Drive train ( var arg Ġpackages : ĠPair < Translation 2 d , ĠK Motor Controller >, Ġprivate Ġval Ġgyro : ĠK G yro ) Ġ: ĠK Drive train , ĠSub system Base (), ĠDebug Ġ{ ĊĠĠĠ Ġinit Ġ{ ĊĠĠĠĠĠĠĠ Ġassert ( packages . size Ġ== Ġ 4 ) Ġ{ Ġ" the Ġpre - made Ġdrive train Ġonly Ġaccepts Ġ 4 Ġwheel Ġme can um Ġdrives " Ġ} ĊĠĠĠ Ġ} ĊĠĠĠ Ġprivate Ġval Ġmot ors Ġ= Ġpackages . map Ġ{ Ġit . second Ġ}. to Typed Array () ĊĠĠĠ Ġprivate Ġval Ġfront Left Ġ= Ġmot ors [ 0 ] ĊĠĠĠ Ġprivate Ġval Ġfront Right Ġ= Ġmot ors [ 1 ] ĊĠĠĠ Ġprivate Ġval Ġback Left Ġ= Ġmot ors [ 2 ] ĊĠĠĠ Ġprivate Ġval Ġback Right Ġ= Ġmot ors [ 3 ] ĊĠĠĠ Ġprivate Ġval Ġlocations Ġ= Ġpackages . map Ġ{ Ġit . first Ġ}. to Typed Array () ĊĊĠĠĠ Ġ// Ġchanging Ġthis Ġwill Ġnormalize Ġthe Ġtop Ġspeed Ġthat Ġa Ġmotor Ġcan Ġhave ĊĠĠĠ Ġvar Ġmax Velocity Ġ= Ġ 0 . meters PerSecond ĊĊĠĠĠ Ġ// Ġcontrols ĊĠĠĠ Ġprivate Ġval Ġkin em atics Ġ= ĠM ec an um Drive Kin em atics ( locations [ 0 ], Ġlocations [ 1 ], Ġlocations [ 2 ], Ġlocations [ 3 ]) ĊĠĠĠ Ġprivate Ġval Ġod ometry Ġ= ĠM ec an um Drive Od ometry ( kin em atics , Ġgyro . heading ) ĊĊĠĠĠ Ġ// Ġuseful Ġinfo ĊĠĠĠ Ġprivate Ġval Ġme can um Drive Wheel Speed s ĊĠĠĠĠĠĠĠ Ġget () Ġ= ĠM ec an um Drive Wheel Speed s ( front Left . linear Velocity . meters PerSecond , Ġfront Right . linear Velocity . meters PerSecond , Ġback Left . linear Velocity . meters PerSecond , Ġback Right . linear Velocity . meters PerSecond ) ĊĠĠĠ Ġoverride Ġvar Ġpose : ĠP ose 2 d ĊĠĠĠĠĠĠĠ Ġset ( value ) Ġ{ Ġod ometry . reset Position ( value , Ġgyro . heading ) Ġ} ĊĠĠĠĠĠĠĠ Ġget () Ġ= Ġod ometry . pose Met ers ĊĠĠĠ Ġoverride Ġvar Ġheading ĊĠĠĠĠĠĠĠ Ġget () Ġ= Ġgyro . heading ĊĠĠĠĠĠĠĠ Ġset ( value ) Ġ{ gyro . heading Ġ= Ġvalue } ĊĠĠĠ Ġoverride Ġval Ġch assis Speed s : ĠCh assis Speed s ĊĠĠĠĠĠĠĠ Ġget () Ġ= Ġkin em atics . to Ch assis Speed s ( me can um Drive Wheel Speed s ) ĊĊĠĠĠ Ġ// Ġdrive Ġfunctions ĊĠĠĠ Ġoverride Ġfun Ġdrive ( speed s : ĠCh assis Speed s ) Ġ{ ĊĠĠĠĠĠĠĠ Ġdrive ( speed s , Ġfalse ) ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġfun Ġdrive ( speed s : ĠCh assis Speed s , Ġfield Relative : ĠBoolean Ġ= Ġfalse ) Ġ{ ĊĠĠĠĠĠĠĠ Ġif Ġ( field Relative ) Ġ{ ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ// Ġfield Ġrelative Ġmeans Ġx , Ġy Ġof Ġthe Ġfield Ġinstead Ġof Ġforward , Ġside Ġfrom Ġthe Ġrobot ĊĠĠĠĠĠĠĠĠĠĠĠ Ġval Ġadjusted Ġ= ĠCh assis Speed s . from Field Relative Speed s ( speed s . vx Met ers PerSecond , Ġspeed s . vy Met ers PerSecond , Ġspeed s . omega Radians PerSecond , Ġgyro . heading ) ĊĠĠĠĠĠĠĠĠĠĠĠ Ġdrive ( kin em atics . to Wheel Speed s ( adjusted )) ĊĠĠĠĠĠĠĠ Ġ} ĊĠĠĠĠĠĠĠ Ġelse Ġdrive ( kin em atics . to Wheel Speed s ( speed s )) ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġfun Ġdrive ( speed s : ĠM ec an um Drive Wheel Speed s ) Ġ{ ĊĠĠĠĠĠĠĠ Ġif Ġ( max Velocity . value Ġ> Ġ 0 ) ĊĠĠĠĠĠĠĠĠĠĠĠ Ġspeed s . normalize ( max Velocity . meters PerSecond ) ĊĠĠĠĠĠĠĠ Ġfront Left . linear Velocity Ġ= Ġspeed s . front Left Met ers PerSecond . meters PerSecond ĊĠĠĠĠĠĠĠ Ġfront Right . linear Velocity Ġ= Ġspeed s . front Right Met ers PerSecond . meters PerSecond ĊĠĠĠĠĠĠĠ Ġback Left . linear Velocity Ġ= Ġspeed s . rear Left Met ers PerSecond . meters PerSecond ĊĠĠĠĠĠĠĠ Ġback Right . linear Velocity Ġ= Ġspeed s . rear Right Met ers PerSecond . meters PerSecond ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġoverride Ġfun Ġperiodic () Ġ{ ĊĠĠĠĠĠĠĠ Ġod ometry . update ( gyro . heading , Ġme can um Drive Wheel Speed s ) ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġoverride Ġfun Ġdebug Values (): ĠMap < String , ĠAny ?> Ġ{ ĊĠĠĠĠĠĠĠ Ġreturn Ġmap Of ( ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" pose " Ġto Ġpose . debug Values , ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" speed " Ġto Ġch assis Speed s , ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" Front ĠLeft " Ġto Ġfront Left , ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" Front ĠRight " Ġto Ġfront Right , ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" Back ĠLeft " Ġto Ġback Right , ĊĠĠĠĠĠĠĠĠĠĠĠ Ġ" Back ĠRight " Ġto Ġback Left , ĊĠĠĠĠĠĠĠ Ġ) ĊĠĠĠ Ġ} Ċ }