Package ca.team3161.lib.robot.motion.drivetrains

Class MecanumDrivetrain.Builder

  • Enclosing class:
    MecanumDrivetrain
    public static class MecanumDrivetrain.Builder
extends java.lang.Object
    A Builder for mecanum drivetrains. Provides an easy way to make mecanum drivetrains without having to remember parameter order.

    • Constructor Detail

      • Builder

        public Builder()

    • Method Detail

      • build

        public MecanumDrivetrain build()
        Use the given parameters and construct a MecanumDrivetrain.
        Returns:
        a MecanumDrivetrain instance

      • frontLeftController

        public MecanumDrivetrain.Builder frontLeftController​(edu.wpi.first.wpilibj.SpeedController frontLeftController)
        Set the front left controller to use.
        Parameters:
        frontLeftController - the controller
        Returns:
        this builder

      • frontRightController

        public MecanumDrivetrain.Builder frontRightController​(edu.wpi.first.wpilibj.SpeedController frontRightController)
        Set the front right controller to use.
        Parameters:
        frontRightController - the controller
        Returns:
        this builder

      • backLeftController

        public MecanumDrivetrain.Builder backLeftController​(edu.wpi.first.wpilibj.SpeedController backLeftController)
        Set the back left controller to use.
        Parameters:
        backLeftController - the controller
        Returns:
        this builder

      • backRightController

        public MecanumDrivetrain.Builder backRightController​(edu.wpi.first.wpilibj.SpeedController backRightController)
        Set the back right controller to use.
        Parameters:
        backRightController - the controller
        Returns:
        this builder

      • gyro

        public MecanumDrivetrain.Builder gyro​(edu.wpi.first.wpilibj.interfaces.Gyro gyro)
        Set the gyro to use (optional).
        Parameters:
        gyro - the gyro
        Returns:
        this builder