Drivetrain Constants

Replace drivetrainConfig()

@Override
public BaseDrivetrainConfig<?> drivetrainConfig() {
    return new Mecanum.Config()
            .setFrontLeftMotor(new MotorFactory("frontLeftMotor"))
            .setBackLeftMotor(new MotorFactory("backLeftMotor"))
            .setFrontRightMotor(new MotorFactory("frontRightMotor").reverse())
            .setBackRightMotor(new MotorFactory("backRightMotor").reverse());
}

Motors

Replace the names of the motors with the names of your drivetrain motors in the hardware configuration. If your motors are reversed, call .reverse() for that motor. See more about the MotorFactory class. You can use the MotorDebugger OpMode in the OpModes page to get your motor positions and directions correct.

Global drivetrain constants (optional)

See the bottom of this page for more details

Replace drivetrainConfig()

@Override
public BaseDrivetrainConfig<?> drivetrainConfig() {
    return new Tank.Config()
            .setFrontLeftMotor(new MotorFactory("frontLeftMotor"))
            .setBackLeftMotor(new MotorFactory("backLeftMotor"))
            .setFrontRightMotor(new MotorFactory("frontRightMotor").reverse())
            .setBackRightMotor(new MotorFactory("backRightMotor").reverse());
}

Motors

Replace the names of the motors with the names of your drivetrain motors in the hardware configuration. Don’t define the back left and back right motors if you are using a 2-motor tank drive. If your motors are reversed, call .reverse() for that motor. See more about the MotorFactory class. You can use the MotorDebugger OpMode in the OpModes page to get your motor positions and directions correct.

Global drivetrain constants (optional)

See the bottom of this page for more details

Replace drivetrainConfig()

@Override
public BaseDrivetrainConfig<?> drivetrainConfig() {
    return new CoaxialSwerve.Config()
            .setFrontLeftMotor(new MotorFactory("frontLeftMotor"))
            .setFrontRightMotor(new MotorFactory("frontRightMotor").reverse())
            .setBackLeftMotor(new MotorFactory("backLeftMotor"))
            .setBackRightMotor(new MotorFactory("backRightMotor").reverse())
            .setServoNames("flServo", "frServo", "blServo", "brServo")
            .setEncoderNames("flEncoder", "frEncoder", "blEncoder", "brEncoder")
            .setTrackWidth(Dist.fromMm(0))
            .setWheelbase(Dist.fromMm(0))
            .setOffsetAngle(Angle.fromDeg(0))
            .setSteeringCoefficients(new PDSController.PDSCoefficients());
}

Motors

Replace the names of the motors with the names of your drivetrain motors in the hardware configuration. If your motors are reversed, call .reverse() for that motor. See more about the MotorFactory class. You can use the MotorDebugger OpMode in the OpModes page to get your motor positions and directions correct.

Servos

Replace the names of the servos with the names of your drivetrain servos in the hardware configuration.

Encoders

Replace the names of the encoders with the names of your drivetrain encoders in the hardware configuration.

Track width and wheelbase

Set the track width (distance from left wheel center to right wheel center) and wheelbase (distance from front wheel center to back wheel center) of your robot as a Dist.

Offset angle and steering coefficients

Use the SwerveTuner OpMode in the OpModes page to determine the offset angle and PDS steering coefficients of your pods. The offset angle is the static angle offset from 0 degrees for your wheels to be facing forwards. It is defined as an Angle. The steering coefficients are used to correct positional errors in the steering of your pods.

Global drivetrain constants (optional)

See the bottom of this page for more details

Replace drivetrainConfig()

@Override
public BaseDrivetrainConfig<?> drivetrainConfig() {
    return new Kiwi.Config()
            .setFrontLeftMotor(new MotorFactory("frontLeftMotor"))
            .setBackMotor(new MotorFactory("backMotor"))
            .setFrontRightMotor(new MotorFactory("frontRightMotor").reverse());
}

Motors

Replace the names of the motors with the names of your drivetrain motors in the hardware configuration. If your motors are reversed, call .reverse() for that motor. See more about the MotorFactory class. You can use the MotorDebugger OpMode in the OpModes page to get your motor positions and directions correct.

Global drivetrain constants (optional)

See the bottom of this page for more details

Replace drivetrainConfig()

@Override
public BaseDrivetrainConfig<?> drivetrainConfig() {
    return new DualActuated.Config()
            .setFrontLeftMotor(new MotorFactory("frontLeftMotor"))
            .setBackLeftMotor(new MotorFactory("backLeftMotor"))
            .setFrontRightMotor(new MotorFactory("frontRightMotor").reverse())
            .setBackRightMotor(new MotorFactory("backRightMotor").reverse())
            .addActuator("flServo", 0.0, 1.0)
            .addActuator("blServo", 0.0, 1.0)
            .addActuator("frServo", 0.0, 1.0)
            .addActuator("brServo", 0.0, 1.0);
}

Motors

Replace the names of the motors with the names of your drivetrain motors in the hardware configuration. If your motors are reversed, call .reverse() for that motor. See more about the MotorFactory class. You can use the MotorDebugger OpMode in the OpModes page to get your motor positions and directions correct.

Actuators

You can add or remove .addActuator() calls depending on how many actuators your drivetrain has. Replace the names of the actuators with the names of your drivetrain actuators in the hardware configuration. The second and third parameters are the tractionPosition and holonomicPosition of the actuator respectively.

Initial state (optional)

You can set the initial state of the actuators with .setInitialState(DualActuated.DriveState initialState). The two possible states are DualActuated.DriveState.TRACTION and DualActuated.DriveState.HOLONOMIC. The default is HOLONOMIC.

Global drivetrain constants (optional)

See the bottom of this page for more details