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.MecanumDrivetrain

All Implemented Interfaces:

LifecycleListener, Subsystem, ComposedComponent<java.lang.Object>
```
public class MecanumDrivetrain
extends AbstractDrivetrainBase
implements ComposedComponent<java.lang.Object>
```
A prepackaged mecanum drive solution, suitable for 4-wheeled Mecanum drivetrains. See VelocityController for a recommended SpeedController to use for each wheel.

Nested Class Summary

Nested Classes
Modifier and Type Class Description

static class MecanumDrivetrain.Builder
A Builder for mecanum 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<java.lang.Object>`	`getComposedComponents()`	Get the composed components within this one.
`void`	`setForwardTarget(double forwardTarget)`	Set the "forward target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward, -1.0 representing full speed backward, and 0 representing no forward or backward movement.
`void`	`setRotateTarget(double rotateTarget)`	Set the "rotate target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed clockwise, -1.0 representing full speed counterclockwise, and 0 representing no rotation.
`void`	`setStrafeTarget(double strafeTarget)`	Set the "strafe target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed right, -1.0 representing full speed left, and 0 representing no strafing.
`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)
```
    Set the "forward target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward, -1.0 representing full speed backward, and 0 representing no forward or backward movement.
    
    Parameters:
    
    forwardTarget - the forward target
  - setStrafeTarget
```
public void setStrafeTarget(double strafeTarget)
```
    Set the "strafe target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed right, -1.0 representing full speed left, and 0 representing no strafing.
    
    Parameters:
    
    strafeTarget - the forward target
  - setRotateTarget
```
public void setRotateTarget(double rotateTarget)
```
    Set the "rotate target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed clockwise, -1.0 representing full speed counterclockwise, and 0 representing no rotation.
    
    Parameters:
    
    rotateTarget - the forward target
  - 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<java.lang.Object> getComposedComponents()
```
    Get the composed components within this one.
    
    Specified by:
    
    getComposedComponents in interface ComposedComponent<java.lang.Object>
    
    Returns:
    
    the composed components.

Class MecanumDrivetrain

Nested Class Summary

Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Field Summary

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Method Summary

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

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

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

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

Methods inherited from class java.lang.Object

Method Detail

defineResources

setForwardTarget

setStrafeTarget

setRotateTarget

stop

task

getComposedComponents