IDriveEngine.java

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package com.neuronrobotics.sdk.addons.kinematics;
 
import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
 
public interface IDriveEngine {
 
    public abstract void DriveArc(MobileBase source,TransformNR newPose,double seconds);
 
    
    public default  void DriveVelocityStraight(MobileBase source,double cmPerSecond) {
        DriveArc(source,new TransformNR(cmPerSecond,0,0,new RotationNR()),1);
    }
    
    public default  void DriveVelocityArc(MobileBase source,double degreesPerSecond, double cmRadius) {
        DriveArc(source,new TransformNR(0,cmRadius,0,new RotationNR(0, degreesPerSecond, 0)),1);
    }
}