basestation.bot.commands

Interface FourWheelMovement

All Superinterfaces:

CommandCenter

All Known Implementing Classes:

ExtendedFourWheelMovement, ModbotCommandCenter

public interface FourWheelMovement
extends CommandCenter

Interface for any wheel movement. Any wheel movement should be expressed as a percentage of the maximum power from 0 to 100.

This interface assumes there are 4 wheels on the bot in a cart configuration. In other words there is a front left, front right, back left, and back right wheel.

Method Summary

Modifier and Type	Method and Description
boolean	setWheelPower(double fl, double fr, double bl, double br) Sets the wheel power for all four wheels.

Methods inherited from interface basestation.bot.commands.CommandCenter

sendKV

Method Detail

setWheelPower

boolean setWheelPower(double fl,
                      double fr,
                      double bl,
                      double br)

Sets the wheel power for all four wheels. Wheel power should be a number from -100 to 100. Note that negative number imply the wheel is moving backwards

Parameters:

fl - power to set the front left wheel

fr - power to set the front right wheel

bl - power to set the back left wheel

br - power to set the back right wheel

Returns:

true if the command was likely successful