#include <chassisControllerIntegrated.hpp>

Inheritance diagram for okapi::ChassisControllerIntegrated:

Public Member Functions
	ChassisControllerIntegrated (const TimeUtil &itimeUtil, std::shared_ptr< ChassisModel > imodel, std::unique_ptr< AsyncPosIntegratedController > ileftController, std::unique_ptr< AsyncPosIntegratedController > irightController, const AbstractMotor::GearsetRatioPair &igearset=AbstractMotor::gearset::green, const ChassisScales &iscales=ChassisScales({1, 1}, imev5GreenTPR), std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	ChassisController using the V5 motor's integrated control.

void	moveDistance (QLength itarget) override
	Drives the robot straight for a distance (using closed-loop control).

void	moveRaw (double itarget) override
	Drives the robot straight for a distance (using closed-loop control).

void	moveDistanceAsync (QLength itarget) override
	Sets the target distance for the robot to drive straight (using closed-loop control).

void	moveRawAsync (double itarget) override
	Sets the target distance for the robot to drive straight (using closed-loop control).

void	turnAngle (QAngle idegTarget) override
	Turns the robot clockwise in place (using closed-loop control).

void	turnRaw (double idegTarget) override
	Turns the robot clockwise in place (using closed-loop control).

void	turnAngleAsync (QAngle idegTarget) override
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void	turnRawAsync (double idegTarget) override
	Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void	setTurnsMirrored (bool ishouldMirror) override
	Sets whether turns should be mirrored.

bool	isSettled () override
	Checks whether the internal controllers are currently settled.

void	waitUntilSettled () override
	Delays until the currently executing movement completes.

void	stop () override
	Interrupts the current movement to stop the robot.

ChassisScales	getChassisScales () const override
	Get the ChassisScales.

AbstractMotor::GearsetRatioPair	getGearsetRatioPair () const override
	Get the GearsetRatioPair.

std::shared_ptr< ChassisModel >	getModel () override

ChassisModel &	model () override

void	setMaxVelocity (double imaxVelocity) override
	Sets a new maximum velocity in RPM [0-600].

double	getMaxVelocity () const override

Public Member Functions inherited from okapi::ChassisController
	ChassisController ()=default
	A ChassisController adds a closed-loop layer on top of a ChassisModel.

virtual	~ChassisController ()=default

Protected Attributes
std::shared_ptr< Logger >	logger

bool	normalTurns {true}

std::shared_ptr< ChassisModel >	chassisModel

TimeUtil	timeUtil

std::unique_ptr< AsyncPosIntegratedController >	leftController

std::unique_ptr< AsyncPosIntegratedController >	rightController

int	lastTarget

ChassisScales	scales

AbstractMotor::GearsetRatioPair	gearsetRatioPair

Detailed Description

Definition at line 14 of file chassisControllerIntegrated.hpp.

Constructor & Destructor Documentation

◆ ChassisControllerIntegrated()

okapi::ChassisControllerIntegrated::ChassisControllerIntegrated	(	const TimeUtil &	itimeUtil,
		std::shared_ptr< ChassisModel >	imodel,
		std::unique_ptr< AsyncPosIntegratedController >	ileftController,
		std::unique_ptr< AsyncPosIntegratedController >	irightController,
		const AbstractMotor::GearsetRatioPair &	igearset = `AbstractMotor::gearset::green`,
		const ChassisScales &	iscales = `ChassisScales({1, 1}, imev5GreenTPR)`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

ChassisController using the V5 motor's integrated control.

Puts the motors into encoder count units. Throws a std::invalid_argument exception if the gear ratio is zero. The initial model's max velocity will be propagated to the controllers.

Parameters

itimeUtil	The TimeUtil.
imodel	The ChassisModel used to read from sensors/write to motors.
ileftController	The controller used for the left side motors.
irightController	The controller used for the right side motors.
igearset	The internal gearset and external ratio used on the drive motors.
iscales	The ChassisScales.
ilogger	The logger this instance will log to.

Member Function Documentation

◆ getChassisScales()

ChassisScales okapi::ChassisControllerIntegrated::getChassisScales ( ) const

overridevirtual

Get the ChassisScales.

Implements okapi::ChassisController.

◆ getGearsetRatioPair()

AbstractMotor::GearsetRatioPair okapi::ChassisControllerIntegrated::getGearsetRatioPair ( ) const

overridevirtual

Get the GearsetRatioPair.

Implements okapi::ChassisController.

◆ getMaxVelocity()

double okapi::ChassisControllerIntegrated::getMaxVelocity ( ) const

overridevirtual

Returns: The maximum velocity in RPM [0-600].

Implements okapi::ChassisController.

◆ getModel()

std::shared_ptr< ChassisModel > okapi::ChassisControllerIntegrated::getModel ( )

overridevirtual

Returns: The internal ChassisModel.

Implements okapi::ChassisController.

◆ isSettled()

bool okapi::ChassisControllerIntegrated::isSettled ( )

overridevirtual

Checks whether the internal controllers are currently settled.

Returns: Whether this ChassisController is settled.

Implements okapi::ChassisController.

◆ model()

ChassisModel & okapi::ChassisControllerIntegrated::model ( )

overridevirtual

Returns: The internal ChassisModel.

Implements okapi::ChassisController.

◆ moveDistance()

void okapi::ChassisControllerIntegrated::moveDistance ( QLength itarget )

overridevirtual

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

// Drive forward 6 inches
chassis->moveDistance(6_in);
 
// Drive backward 0.2 meters
chassis->moveDistance(-0.2_m);

Parameters

itarget distance to travel

Implements okapi::ChassisController.

◆ moveDistanceAsync()

void okapi::ChassisControllerIntegrated::moveDistanceAsync ( QLength itarget )

overridevirtual

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

Parameters

itarget distance to travel

Implements okapi::ChassisController.

◆ moveRaw()

void okapi::ChassisControllerIntegrated::moveRaw ( double itarget )

overridevirtual

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

// Drive forward by spinning the motors 400 degrees

chassis->moveRaw(400);

Parameters

itarget distance to travel in motor degrees

Implements okapi::ChassisController.

◆ moveRawAsync()

void okapi::ChassisControllerIntegrated::moveRawAsync ( double itarget )

overridevirtual

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

Parameters

itarget distance to travel in motor degrees

Implements okapi::ChassisController.

◆ setMaxVelocity()

void okapi::ChassisControllerIntegrated::setMaxVelocity ( double imaxVelocity )

overridevirtual

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

Parameters

imaxVelocity The new maximum velocity.

Implements okapi::ChassisController.

◆ setTurnsMirrored()

void okapi::ChassisControllerIntegrated::setTurnsMirrored ( bool ishouldMirror )

overridevirtual

Sets whether turns should be mirrored.

Parameters

ishouldMirror whether turns should be mirrored

Implements okapi::ChassisController.

◆ stop()

void okapi::ChassisControllerIntegrated::stop ( )

overridevirtual

Interrupts the current movement to stop the robot.

Implements okapi::ChassisController.

◆ turnAngle()

void okapi::ChassisControllerIntegrated::turnAngle ( QAngle idegTarget )

overridevirtual

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

// Turn 90 degrees clockwise

chassis->turnAngle(90_deg);

Parameters

idegTarget angle to turn for

Implements okapi::ChassisController.

◆ turnAngleAsync()

void okapi::ChassisControllerIntegrated::turnAngleAsync ( QAngle idegTarget )

overridevirtual

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

Parameters

idegTarget angle to turn for

Implements okapi::ChassisController.

◆ turnRaw()

void okapi::ChassisControllerIntegrated::turnRaw ( double idegTarget )

overridevirtual

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

// Turn clockwise by spinning the motors 200 degrees

chassis->turnRaw(200);

Parameters

idegTarget angle to turn for in motor degrees

Implements okapi::ChassisController.

◆ turnRawAsync()

void okapi::ChassisControllerIntegrated::turnRawAsync ( double idegTarget )

overridevirtual

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

Implements okapi::ChassisController.

◆ waitUntilSettled()

void okapi::ChassisControllerIntegrated::waitUntilSettled ( )

overridevirtual

Delays until the currently executing movement completes.

Implements okapi::ChassisController.

Member Data Documentation

◆ chassisModel

std::shared_ptr<ChassisModel> okapi::ChassisControllerIntegrated::chassisModel

protected

Definition at line 176 of file chassisControllerIntegrated.hpp.

◆ gearsetRatioPair

AbstractMotor::GearsetRatioPair okapi::ChassisControllerIntegrated::gearsetRatioPair

protected

Definition at line 182 of file chassisControllerIntegrated.hpp.

◆ lastTarget

int okapi::ChassisControllerIntegrated::lastTarget

protected

Definition at line 180 of file chassisControllerIntegrated.hpp.

◆ leftController

std::unique_ptr<AsyncPosIntegratedController> okapi::ChassisControllerIntegrated::leftController

protected

Definition at line 178 of file chassisControllerIntegrated.hpp.

◆ logger

std::shared_ptr<Logger> okapi::ChassisControllerIntegrated::logger

protected

Definition at line 174 of file chassisControllerIntegrated.hpp.

◆ normalTurns

bool okapi::ChassisControllerIntegrated::normalTurns {true}

protected

Definition at line 175 of file chassisControllerIntegrated.hpp.

◆ rightController

std::unique_ptr<AsyncPosIntegratedController> okapi::ChassisControllerIntegrated::rightController

protected

Definition at line 179 of file chassisControllerIntegrated.hpp.

◆ scales

ChassisScales okapi::ChassisControllerIntegrated::scales

protected

Definition at line 181 of file chassisControllerIntegrated.hpp.

◆ timeUtil

TimeUtil okapi::ChassisControllerIntegrated::timeUtil

protected

Definition at line 177 of file chassisControllerIntegrated.hpp.

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

include/okapi/api/chassis/controller/chassisControllerIntegrated.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ChassisControllerIntegrated()

Member Function Documentation

◆ getChassisScales()

◆ getGearsetRatioPair()

◆ getMaxVelocity()

◆ getModel()

◆ isSettled()

◆ model()

◆ moveDistance()

◆ moveDistanceAsync()

◆ moveRaw()

◆ moveRawAsync()

◆ setMaxVelocity()

◆ setTurnsMirrored()

◆ stop()

◆ turnAngle()

◆ turnAngleAsync()

◆ turnRaw()

◆ turnRawAsync()

◆ waitUntilSettled()

Member Data Documentation

◆ chassisModel

◆ gearsetRatioPair

◆ lastTarget

◆ leftController

◆ logger

◆ normalTurns

◆ rightController

◆ scales

◆ timeUtil