light::HDrive Class Reference

Tank drive with a single center-mounted strafe wheel (H-drive layout). More...

#include <holo_drive.hpp>

Public Member Functions
	HDrive (std::vector< int > left_ports, std::vector< int > right_ports, int center_port, int imu_port, double wheel_diameter, double gear_ratio=1.0)
	Construct an H-drive.
Opcontrol
void	opcontrol (int throttle, int strafe, int turn)
	Drive from joystick inputs.
Autonomous moves
void	drive (double inches, int max_speed=100, int timeout_ms=3000)
	Drive forward inches (negative = reverse).
void	strafe (double inches, int max_speed=100, int timeout_ms=3000)
	Strafe right inches (negative = left).
void	turn_to (double heading_deg, int max_speed=80, int timeout_ms=2000)
	Turn to absolute heading 0–360°.
void	turn_relative (double degrees, int max_speed=80, int timeout_ms=2000)
	Turn degrees CW (positive) or CCW (negative).
PID constants
void	set_drive_pid (double kP, double kI=0, double kD=0)
void	set_strafe_pid (double kP, double kI=0, double kD=0)
void	set_turn_pid (double kP, double kI=0, double kD=0)
void	set_heading_pid (double kP, double kI=0, double kD=0)
Misc
void	calibrate (bool wait=true)
void	reset_sensors ()
void	set_brake_mode (pros::motor_brake_mode_e_t mode)
double	get_heading () const

Detailed Description

Tank drive with a single center-mounted strafe wheel (H-drive layout).

Left and right groups may contain any number of motors.

Warning

Before running any autonomous method you MUST call set_*_pid() for each axis. Call calibrate() once inside initialize() if no other code calibrates the IMU.

Definition at line 256 of file holo_drive.hpp.

Constructor & Destructor Documentation

HDrive()

light::HDrive::HDrive	(	std::vector< int >	left_ports,
		std::vector< int >	right_ports,
		int	center_port,
		int	imu_port,
		double	wheel_diameter,
		double	gear_ratio = 1.0
	)

Construct an H-drive.

Parameters

left_ports	left side motor ports (negative = reversed)
right_ports	right side motor ports (negative = reversed)
center_port	center strafe motor port
imu_port	inertial sensor port
wheel_diameter	wheel diameter in inches
gear_ratio	output_rpm / motor_rpm (1.0 = direct drive)

Member Function Documentation

calibrate()

void light::HDrive::calibrate

(

bool

wait = true

)

drive()

void light::HDrive::drive	(	double	inches,
		int	max_speed = 100,
		int	timeout_ms = 3000
	)

Drive forward inches (negative = reverse).

get_heading()

double light::HDrive::get_heading

(

)

const

opcontrol()

void light::HDrive::opcontrol	(	int	throttle,
		int	strafe,
		int	turn
	)

Drive from joystick inputs.

Parameters

throttle	forward / back
strafe	center wheel left / right
turn	CW / CCW

reset_sensors()

void light::HDrive::reset_sensors

(

)

set_brake_mode()

void light::HDrive::set_brake_mode

(

pros::motor_brake_mode_e_t

mode

)

set_drive_pid()

void light::HDrive::set_drive_pid	(	double	kP,
		double	kI = 0,
		double	kD = 0
	)

set_heading_pid()

void light::HDrive::set_heading_pid	(	double	kP,
		double	kI = 0,
		double	kD = 0
	)

set_strafe_pid()

void light::HDrive::set_strafe_pid	(	double	kP,
		double	kI = 0,
		double	kD = 0
	)

set_turn_pid()

void light::HDrive::set_turn_pid	(	double	kP,
		double	kI = 0,
		double	kD = 0
	)

strafe()

void light::HDrive::strafe	(	double	inches,
		int	max_speed = 100,
		int	timeout_ms = 3000
	)

Strafe right inches (negative = left).

turn_relative()

void light::HDrive::turn_relative	(	double	degrees,
		int	max_speed = 80,
		int	timeout_ms = 2000
	)

Turn degrees CW (positive) or CCW (negative).

turn_to()

void light::HDrive::turn_to	(	double	heading_deg,
		int	max_speed = 80,
		int	timeout_ms = 2000
	)

Turn to absolute heading 0–360°.

---

The documentation for this class was generated from the following file:

• include/LightLib/drive/holo_drive.hpp