drive

fun drive(xSpeed: Double, ySpeed: Double, rotSpeed: Double, fieldOriented: Boolean = true, isOpenLoop: Boolean = false)

Drives the robot with specified velocities.

xSpeed

Forward speed in m/s (positive = forward).

ySpeed

Sideways speed in m/s (positive = left).

rotSpeed

Rotational speed in rad/s (positive = counterclockwise).

fieldOriented

Whether to drive field-oriented (true) or robot-oriented (false).

isOpenLoop

Whether to use open loop control.

fun drive(chassisSpeeds: ChassisSpeeds, isOpenLoop: Boolean = false)

Drives the robot with chassis speeds.

chassisSpeeds

The desired chassis speeds.

isOpenLoop

Whether to use open loop control.