okapi::ChassisController Class Reference

#include <chassisController.hpp>

Inheritance diagram for okapi::ChassisController:

Public Member Functions
	ChassisController ()=default
	A ChassisController adds a closed-loop layer on top of a ChassisModel.
virtual	~ChassisController ()=default
virtual void	moveDistance (QLength itarget)=0
	Drives the robot straight for a distance (using closed-loop control).
virtual void	moveRaw (double itarget)=0
	Drives the robot straight for a distance (using closed-loop control).
virtual void	moveDistanceAsync (QLength itarget)=0
	Sets the target distance for the robot to drive straight (using closed-loop control).
virtual void	moveRawAsync (double itarget)=0
	Sets the target distance for the robot to drive straight (using closed-loop control).
virtual void	turnAngle (QAngle idegTarget)=0
	Turns the robot clockwise in place (using closed-loop control).
virtual void	turnRaw (double idegTarget)=0
	Turns the robot clockwise in place (using closed-loop control).
virtual void	turnAngleAsync (QAngle idegTarget)=0
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
virtual void	turnRawAsync (double idegTarget)=0
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).
virtual void	setTurnsMirrored (bool ishouldMirror)=0
	Sets whether turns should be mirrored.
virtual bool	isSettled ()=0
	Checks whether the internal controllers are currently settled.
virtual void	waitUntilSettled ()=0
	Delays until the currently executing movement completes.
virtual void	stop ()=0
	Interrupts the current movement to stop the robot.
virtual void	setMaxVelocity (double imaxVelocity)=0
	Sets a new maximum velocity in RPM [0-600].
virtual double	getMaxVelocity () const =0
virtual ChassisScales	getChassisScales () const =0
	Get the ChassisScales.
virtual AbstractMotor::GearsetRatioPair	getGearsetRatioPair () const =0
	Get the GearsetRatioPair.
virtual std::shared_ptr< ChassisModel >	getModel ()=0
virtual ChassisModel &	model ()=0

Detailed Description

Definition at line 17 of file chassisController.hpp.

Constructor & Destructor Documentation

ChassisController()

okapi::ChassisController::ChassisController ( )

explicitdefault

A ChassisController adds a closed-loop layer on top of a ChassisModel.

moveDistance and turnAngle both use closed-loop control to move the robot. There are passthrough functions for everything defined in ChassisModel.

Parameters

imodel

underlying ChassisModel

~ChassisController()

virtual okapi::ChassisController::~ChassisController ( )

virtualdefault

Member Function Documentation

getChassisScales()

virtual ChassisScales okapi::ChassisController::getChassisScales ( ) const

pure virtual

Get the ChassisScales.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

getGearsetRatioPair()

virtual AbstractMotor::GearsetRatioPair okapi::ChassisController::getGearsetRatioPair ( ) const

pure virtual

Get the GearsetRatioPair.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

getMaxVelocity()

virtual double okapi::ChassisController::getMaxVelocity ( ) const

pure virtual

Returns

The maximum velocity in RPM [0-600].

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

getModel()

virtual std::shared_ptr< ChassisModel > okapi::ChassisController::getModel ( )

pure virtual

Returns

The internal ChassisModel.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

isSettled()

virtual bool okapi::ChassisController::isSettled ( )

pure virtual

Checks whether the internal controllers are currently settled.

Returns

Whether this ChassisController is settled.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

model()

virtual ChassisModel & okapi::ChassisController::model ( )

pure virtual

Returns

The internal ChassisModel.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

moveDistance()

virtual void okapi::ChassisController::moveDistance ( QLength  itarget )

pure virtual

Drives the robot straight for a distance (using closed-loop control).

Parameters

itarget

distance to travel

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

moveDistanceAsync()

virtual void okapi::ChassisController::moveDistanceAsync ( QLength  itarget )

pure virtual

Sets the target distance for the robot to drive straight (using closed-loop control).

Parameters

itarget

distance to travel

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

moveRaw()

virtual void okapi::ChassisController::moveRaw ( double  itarget )

pure virtual

Drives the robot straight for a distance (using closed-loop control).

Parameters

itarget

distance to travel in motor degrees

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

moveRawAsync()

virtual void okapi::ChassisController::moveRawAsync ( double  itarget )

pure virtual

Sets the target distance for the robot to drive straight (using closed-loop control).

Parameters

itarget

distance to travel in motor degrees

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

setMaxVelocity()

virtual void okapi::ChassisController::setMaxVelocity ( double  imaxVelocity )

pure virtual

Sets a new maximum velocity in RPM [0-600].

Parameters

imaxVelocity

The new maximum velocity.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

setTurnsMirrored()

virtual void okapi::ChassisController::setTurnsMirrored ( bool  ishouldMirror )

pure virtual

Sets whether turns should be mirrored.

Parameters

ishouldMirror

whether turns should be mirrored

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

stop()

virtual void okapi::ChassisController::stop ( )

pure virtual

Interrupts the current movement to stop the robot.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

turnAngle()

virtual void okapi::ChassisController::turnAngle ( QAngle  idegTarget )

pure virtual

Turns the robot clockwise in place (using closed-loop control).

Parameters

idegTarget

angle to turn for

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

turnAngleAsync()

virtual void okapi::ChassisController::turnAngleAsync ( QAngle  idegTarget )

pure virtual

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

Parameters

idegTarget

angle to turn for

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

turnRaw()

virtual void okapi::ChassisController::turnRaw ( double  idegTarget )

pure virtual

Turns the robot clockwise in place (using closed-loop control).

Parameters

idegTarget

angle to turn for in motor degrees

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

turnRawAsync()

virtual void okapi::ChassisController::turnRawAsync ( double  idegTarget )

pure virtual

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

Parameters

idegTarget

angle to turn for in motor degrees

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

waitUntilSettled()

virtual void okapi::ChassisController::waitUntilSettled ( )

pure virtual

Delays until the currently executing movement completes.

Implemented in okapi::ChassisControllerIntegrated, okapi::ChassisControllerPID, and okapi::DefaultOdomChassisController.

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

• include/okapi/api/chassis/controller/chassisController.hpp