light::tracking_wheel Class Reference

Single tracking wheel for odometry. More...

#include <tracking_wheel.hpp>

Public Member Functions
	tracking_wheel (std::vector< int > ports, double wheel_diameter, double distance_to_center=0.0, double ratio=1.0)
	Creates a new tracking wheel with an ADI Encoder.
	tracking_wheel (int smart_port, std::vector< int > ports, double wheel_diameter, double distance_to_center=0.0, double ratio=1.0)
	Creates a new tracking wheel with an ADI Encoder plugged into a 3-wire expander.
	tracking_wheel (int port, double wheel_diameter, double distance_to_center=0.0, double ratio=1.0)
	Creates a new tracking wheel with a Rotation sensor.
double	get ()
	Returns how far the wheel has traveled in inches.
double	get_raw ()
	Returns the raw sensor value.
void	distance_to_center_set (double input)
	Sets the distance to the center of the robot.
double	distance_to_center_get ()
	Returns the distance to the center of the robot.
void	distance_to_center_flip_set (bool input)
	Sets the distance to the center to be flipped to negative or not.
bool	distance_to_center_flip_get ()
	Returns if the distance to center is flipped or not.
void	reset ()
	Resets your sensor.
double	ticks_per_inch ()
	Returns the constant for how many ticks is 1 inch.
void	ticks_per_rev_set (double input)
	Sets the amount of ticks per revolution of your sensor.
double	ticks_per_rev_get ()
	Returns the amount of ticks per revolution of your sensor.
void	ratio_set (double input)
	Sets the gear ratio for your tracking wheel.
double	ratio_get ()
	Returns the gear ratio for your tracking wheel.
void	wheel_diameter_set (double input)
	Sets the diameter of your wheel.
double	wheel_diameter_get ()
	Returns the diameter of your wheel.

Public Attributes
pros::adi::Encoder	adi_encoder
	Backing ADI encoder (used when constructed from ADI ports).
pros::Rotation	smart_encoder
	Backing Rotation sensor (used when constructed from a smart port).

Detailed Description

Single tracking wheel for odometry.

Construct from either an ADI encoder pair, an ADI encoder via a 3-wire expander, or a smart Rotation sensor. The class then reports distance traveled (inches) and exposes the offset to the robot center used by the odom kinematics.

Definition at line 30 of file tracking_wheel.hpp.

Constructor & Destructor Documentation

tracking_wheel() [1/3]

light::tracking_wheel::tracking_wheel	(	std::vector< int >	ports,
		double	wheel_diameter,
		double	distance_to_center = 0.0,
		double	ratio = 1.0
	)

Creates a new tracking wheel with an ADI Encoder.

Parameters

ports	{'A', 'B'}. make the encoder negative if reversed
wheel_diameter	assumed inches, this is the diameter of your wheel
distance_to_center	the distance to the center of your robot, this is used for tracking
ratio	the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

tracking_wheel() [2/3]

light::tracking_wheel::tracking_wheel	(	int	smart_port,
		std::vector< int >	ports,
		double	wheel_diameter,
		double	distance_to_center = 0.0,
		double	ratio = 1.0
	)

Creates a new tracking wheel with an ADI Encoder plugged into a 3-wire expander.

Parameters

smart_port	the smart port your ADI Expander is plugged into
ports	{'A', 'B'}. make the encoder negative if reversed
wheel_diameter	assumed inches, this is the diameter of your wheel
distance_to_center	the distance to the center of your robot, this is used for tracking
ratio	the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

tracking_wheel() [3/3]

light::tracking_wheel::tracking_wheel	(	int	port,
		double	wheel_diameter,
		double	distance_to_center = 0.0,
		double	ratio = 1.0
	)

Creates a new tracking wheel with a Rotation sensor.

Parameters

port	the port your Rotation sensor is plugged into, make this negative if reversed
wheel_diameter	assumed inches, this is the diameter of your wheel
distance_to_center	the distance to the center of your robot, this is used for tracking
ratio	the gear ratio of your tracking wheel. if it's not geared, this should be 1.0

Member Function Documentation

distance_to_center_flip_get()

bool light::tracking_wheel::distance_to_center_flip_get

(

)

Returns if the distance to center is flipped or not.

False is not, true is.

distance_to_center_flip_set()

void light::tracking_wheel::distance_to_center_flip_set

(

bool

input

)

Sets the distance to the center to be flipped to negative or not.

Parameters

input

flips distance to center to negative. false leaves it alone, true flips it

distance_to_center_get()

double light::tracking_wheel::distance_to_center_get

(

)

Returns the distance to the center of the robot.

distance_to_center_set()

void light::tracking_wheel::distance_to_center_set

(

double

input

)

Sets the distance to the center of the robot.

Parameters

input

distance to the center of your robot in inches

get()

double light::tracking_wheel::get

(

)

Returns how far the wheel has traveled in inches.

get_raw()

double light::tracking_wheel::get_raw

(

)

Returns the raw sensor value.

ratio_get()

double light::tracking_wheel::ratio_get

(

)

Returns the gear ratio for your tracking wheel.

ratio_set()

void light::tracking_wheel::ratio_set

(

double

input

)

Sets the gear ratio for your tracking wheel.

Parameters

input

gear ratio of tracking wheel

reset()

void light::tracking_wheel::reset

(

)

Resets your sensor.

ticks_per_inch()

double light::tracking_wheel::ticks_per_inch

(

)

Returns the constant for how many ticks is 1 inch.

ticks_per_rev_get()

double light::tracking_wheel::ticks_per_rev_get

(

)

Returns the amount of ticks per revolution of your sensor.

ticks_per_rev_set()

void light::tracking_wheel::ticks_per_rev_set

(

double

input

)

Sets the amount of ticks per revolution of your sensor.

This is useful for custom encoders.

Parameters

input

ticks per revolution

wheel_diameter_get()

double light::tracking_wheel::wheel_diameter_get

(

)

Returns the diameter of your wheel.

wheel_diameter_set()

void light::tracking_wheel::wheel_diameter_set

(

double

input

)

Sets the diameter of your wheel.

Parameters

input

wheel diameter

Member Data Documentation

adi_encoder

pros::adi::Encoder light::tracking_wheel::adi_encoder

Backing ADI encoder (used when constructed from ADI ports).

Definition at line 32 of file tracking_wheel.hpp.

smart_encoder

pros::Rotation light::tracking_wheel::smart_encoder

Backing Rotation sensor (used when constructed from a smart port).

Definition at line 33 of file tracking_wheel.hpp.

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

• include/LightLib/drive/tracking_wheel.hpp