light::HoloDrive Class Reference

4-motor holonomic drive — supports X-Drive and Mecanum configurations. More...

#include <holo_drive.hpp>

Public Types
enum class	Type { XDRIVE , MECANUM }
	Wheel layout option. More...

Public Member Functions
	HoloDrive (int fl_port, int fr_port, int bl_port, int br_port, int imu_port, double wheel_diameter, double gear_ratio=1.0, Type type=Type::MECANUM)
	Construct a 4-motor holonomic drive.
Opcontrol
void	opcontrol (int throttle, int strafe, int turn)
	Drive from joystick inputs.
Autonomous moves
Straight drive / strafe hold heading via IMU throughout.
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)
	Set the linear-drive PID gains.
void	set_strafe_pid (double kP, double kI=0, double kD=0)
	Set the strafe PID gains.
void	set_turn_pid (double kP, double kI=0, double kD=0)
	Set the turn-in-place PID gains.
void	set_heading_pid (double kP, double kI=0, double kD=0)
	Set the heading-correction PID used during straight drive / strafe.
Misc
void	calibrate (bool wait=true)
	Calibrate the IMU.
void	reset_sensors ()
	Tare motor encoders.
void	set_brake_mode (pros::motor_brake_mode_e_t mode)
	Set brake mode for all four motors.
double	get_heading () const

Detailed Description

4-motor holonomic drive — supports X-Drive and Mecanum configurations.

Both wheel styles use the same control math; pick the type that matches your hardware.

Motor layout (viewed from above, robot nose pointing up)

FL  FR
BL  BR

Use a negative port number to reverse a motor.

Wheel mixing ("X" pattern, standard for VEX)

FL = throttle − strafe + turn
FR = throttle + strafe − turn
BL = throttle + strafe + turn
BR = throttle − strafe − turn

Positive turn = clockwise (right). Positive strafe = rightward.

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 133 of file holo_drive.hpp.

Member Enumeration Documentation

Type

enum class light::HoloDrive::Type

strong

Wheel layout option.

Enumerator
XDRIVE	Omni wheels mounted at 45°.
MECANUM

Definition at line 136 of file holo_drive.hpp.

Constructor & Destructor Documentation

HoloDrive()

light::HoloDrive::HoloDrive	(	int	fl_port,
		int	fr_port,
		int	bl_port,
		int	br_port,
		int	imu_port,
		double	wheel_diameter,
		double	gear_ratio = 1.0,
		Type	type = Type::MECANUM
	)

Construct a 4-motor holonomic drive.

Parameters

fl_port	front-left motor port (negative = reversed)
fr_port	front-right motor port (negative = reversed)
bl_port	back-left motor port (negative = reversed)
br_port	back-right motor port (negative = reversed)
imu_port	inertial sensor port
wheel_diameter	wheel diameter in inches
gear_ratio	output_rpm / motor_rpm (1.0 = direct drive)
type	wheel layout

Member Function Documentation

calibrate()

void light::HoloDrive::calibrate

(

bool

wait = true

)

Calibrate the IMU.

Parameters

wait	if true, blocks until settled.

drive()

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

Drive forward inches (negative = reverse).

get_heading()

double light::HoloDrive::get_heading

(

)

const

Returns

Current heading 0–360°, CW-positive.

opcontrol()

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

Drive from joystick inputs.

Pass raw joystick values −127..127.

Parameters

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

reset_sensors()

void light::HoloDrive::reset_sensors

(

)

Tare motor encoders.

set_brake_mode()

void light::HoloDrive::set_brake_mode

(

pros::motor_brake_mode_e_t

mode

)

Set brake mode for all four motors.

set_drive_pid()

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

Set the linear-drive PID gains.

set_heading_pid()

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

Set the heading-correction PID used during straight drive / strafe.

set_strafe_pid()

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

Set the strafe PID gains.

set_turn_pid()

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

Set the turn-in-place PID gains.

strafe()

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

Strafe right inches (negative = left).

turn_relative()

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

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

turn_to()

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

Turn to absolute heading 0–360°.

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

• include/LightLib/drive/holo_drive.hpp