https://github.com/team236/tickanum
A fully featured mecanum drive toast module
https://github.com/team236/tickanum
Last synced: 2 months ago
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A fully featured mecanum drive toast module
- Host: GitHub
- URL: https://github.com/team236/tickanum
- Owner: Team236
- Created: 2016-10-11T14:58:01.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2016-10-15T23:36:48.000Z (over 9 years ago)
- Last Synced: 2025-12-26T02:32:20.719Z (6 months ago)
- Language: Java
- Size: 63.5 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# Tickanum
A fully-featured mecanum drive implementation
This is Techno Ticks package, just like Updater, MotionProfile, Standard, etc.
This means that it is designed to be easy to incorporate into your robot project,
## Installation
To set up this module in your development environment, follow these steps:
1. Clone the repository
2. Run `gradlew eclipse` for Eclipse, or `gradlew idea` for IntelliJ (Linux/Mac users should use `./gradlew` instead of `gradlew`.)
3. Edit the `build.gradle` file to reflect your desired configuration (e.g. changing the team number)
4. Build and integrate jars for all of the modules in /modules/modules.md
To build this module, simply run `gradlew build`.
To deploy this module to your Robot, simply run `gradlew deploy`.
If you haven't already, you can deploy [Toast](https://github.com/Open-RIO/ToastAPI) to your Robot by running `gradlew toastDeploy`.
## Using
The tickanum drive is very easy to use on your robot. It is a subsystem, so you
can just create an instance of it next to your other subsystems like so:
public class RobotModule extends IterativeModule {
// Subsystems
public static Tickanum drive;
public void RobotInit() {
Settings config;
config.controllerType = ControllerType.VICTORSP;
config.stick = new Extreme3DPro(0);
drive = new Tickanum(config);
In your OI.java, you will have to do things slightly differently. Instead of
declaring your Extreme 3D Pro joystick as a wpilib `Joystick` object, you will
have to use the wrapper class provided, `Extreme3DPro`. This class implements
`VectorSource`, which allows the Mecanum Drive to get its vector inputs from
the joystick. If you're messing around with autonomous modes, make sure your
profile follower is a `VectorSource` so you can feed it to the Tickanum drive.