Package com.crossbotics.ftchelper.drive

Class ReverseDrive

java.lang.Object

com.crossbotics.ftchelper.drive.ReverseDrive

public final class ReverseDrive
extends Object

A "drive backwards" mode: when ON, forward and strafe are flipped, so the back of the robot acts as the front. Turning is NOT flipped (the stick still turns the robot the same way).

Useful when the driver must look at the robot's back (for example to load a game piece).

 ReverseDrive reverse = new ReverseDrive();
 controls.bindPress(Pad.G1, Btn.L_STICK_BTN, () -> confirm.play(reverse.toggle()));
 // every loop:
 drive.drive(reverse.apply(forward), reverse.apply(strafe), turn);
 

Docs: docs/modules/drive.md. Tutorial 04 ("Reverse drive") shows it in a TeleOp.

Constructor Summary

Constructors

Constructor	Description
ReverseDrive()

Method Summary

Modifier and Type	Method	Description
double	apply(double translation)	Use on forward and strafe only.
boolean	isReversed()	True when reversed.
void	set(boolean reversed)	Sets the mode.
boolean	toggle()	Flips the mode.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ReverseDrive

public ReverseDrive()

Method Details

toggle

public boolean toggle()

Flips the mode.

Returns:

the new state (true = reversed), handy for a sound or rumble that tells the driver

set

public void set(boolean reversed)

Sets the mode.

isReversed

public boolean isReversed()

True when reversed.

apply

public double apply(double translation)

Use on forward and strafe only. Returns the value, flipped if reversed. (Not on turning: a stick pushed right should still turn the robot clockwise.)