ArcadeDrivetrain (yggdrasil API)

java.lang.Object
- ca.team3161.lib.robot.subsystem.AbstractSubsystem
- - ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem
  - - ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem
    - - ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase
      - ca.team3161.lib.robot.motion.drivetrains.ArcadeDrivetrain

All Implemented Interfaces:: LifecycleListener, Subsystem, ComposedComponent<SpeedControllerGroup>

public class ArcadeDrivetrain
extends AbstractDrivetrainBase
implements ComposedComponent<SpeedControllerGroup>

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class ArcadeDrivetrain.Builder
A Builder for arcade drivetrains.
- Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
  AbstractSubsystem.RunTask

Field Summary
- Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
  job, resourceLocks, THREAD_PRIORITY

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`defineResources()`	Define the set of resourceLocks required for this Subsystem's task.
`java.util.Collection<SpeedControllerGroup>`	`getComposedComponents()`	Get the composed components within this one.
`void`	`setForwardTarget(double forwardTarget)`
`void`	`setTurnTarget(double turnTarget)`
`void`	`stop()`	Stop all movement by setting all motor target values to 0 and disabling them.
`void`	`task()`	The background task to run.

Methods inherited from class ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase
onLifecycleChange

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem
isDone, start

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem
getExecutorService

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Method Detail
  - defineResources
```
public void defineResources()
```
    Define the set of resourceLocks required for this Subsystem's task.
    
    Specified by:
    
    defineResources in interface Subsystem
    
    See Also:
    
    AbstractSubsystem.require(Object)
  - setForwardTarget
```
public void setForwardTarget(double forwardTarget)
```
  - setTurnTarget
```
public void setTurnTarget(double turnTarget)
```
  - stop
```
public void stop()
```
    Stop all movement by setting all motor target values to 0 and disabling them.
    
    Specified by:
    
    stop in class AbstractDrivetrainBase
  - task
```
public void task()
          throws java.lang.Exception
```
    The background task to run.
    
    Specified by:
    
    task in interface Subsystem
    
    Throws:
    
    java.lang.Exception - in case the defined task throws any Exceptions
  - getComposedComponents
```
public java.util.Collection<SpeedControllerGroup> getComposedComponents()
```
    Get the composed components within this one.
    
    Specified by:
    
    getComposedComponents in interface ComposedComponent<SpeedControllerGroup>
    
    Returns:
    
    the composed components.