feat: add driver-controlled command for Mecanum drivetrain (rr 1.1.0)

Signed-off-by: Zach Harel <zach@zharel.me>

Author: zachwaffle4

gradle.properties

@@ -6,6 +6,6 @@ dev.nextftc.publishing.automaticMavenCentralSync=true
 
 android.useAndroidX=true
 
-versions.roadrunner=1.0.1
+versions.roadrunner=1.1.0
 versions.pedro=1.0.0
 versions.fateweaver=1.0.0

roadrunner/src/main/kotlin/dev/nextftc/extensions/roadrunner/NextFTCMecanumDrive.kt

@@ -5,6 +5,9 @@ import com.acmerobotics.roadrunner.Pose2d
 import com.acmerobotics.roadrunner.PoseVelocity2d
 import com.acmerobotics.roadrunner.PoseVelocity2dDual
 import com.acmerobotics.roadrunner.Time
+import com.acmerobotics.roadrunner.Vector2d
+import dev.nextftc.core.commands.utility.LambdaCommand
+import java.util.function.Supplier
 
 /**
  * Represents a RoadRunner Mecanum drivetrain from the QuickStart.
@@ -26,4 +29,28 @@ abstract class NextFTCMecanumDrive {
     abstract fun commandBuilder(beginPose: Pose2d): TrajectoryCommandBuilder
 
     open fun commandBuilder() = commandBuilder(getPose())
+
+    /**
+     * Creates a command for driver-controlled operation.
+     *
+     * @param xPower A function providing the x-axis power.
+     * @param yPower A function providing the y-axis power.
+     * @param headingPower A function providing the heading power.
+     * @param robotCentric Whether the controls are robot-centric (default: true).
+     * @return A [LambdaCommand] that updates the drivetrain powers.
+     */
+    @JvmOverloads fun driverControlledCommand(
+        xPower: Supplier<Double>,
+        yPower: Supplier<Double>,
+        headingPower: Supplier<Double>,
+        robotCentric: Boolean = true
+    ) = LambdaCommand().setUpdate {
+        var transVel = Vector2d(xPower.get(), yPower.get())
+
+        if (!robotCentric) {
+            transVel = getPose().heading * transVel
+        }
+
+        setDrivePowers(PoseVelocity2d(transVel, headingPower.get()))
+    }
 }