A version of the ReadOnlyChassisModel that also supports write methods, such as setting motor speed. More...

#include <chassisModel.hpp>

Inheritance diagram for okapi::ChassisModel:

Public Member Functions
	ChassisModel ()=default

	ChassisModel (const ChassisModel &)=delete

ChassisModel &	operator= (const ChassisModel &)=delete

virtual void	forward (double ispeed)=0
	Drive the robot forwards (using open-loop control).

virtual void	driveVector (double iforwardSpeed, double iyaw)=0
	Drive the robot in an arc (using open-loop control).

virtual void	driveVectorVoltage (double iforwardSpeed, double iyaw)=0
	Drive the robot in an arc.

virtual void	rotate (double ispeed)=0
	Turn the robot clockwise (using open-loop control).

virtual void	stop ()=0
	Stop the robot (set all the motors to 0).

virtual void	tank (double ileftSpeed, double irightSpeed, double ithreshold=0)=0
	Drive the robot with a tank drive layout.

virtual void	arcade (double iforwardSpeed, double iyaw, double ithreshold=0)=0
	Drive the robot with an arcade drive layout.

virtual void	curvature (double iforwardSpeed, double icurvature, double ithreshold=0)=0
	Drive the robot with a curvature drive layout.

virtual void	left (double ispeed)=0
	Power the left side motors.

virtual void	right (double ispeed)=0
	Power the right side motors.

virtual void	resetSensors ()=0
	Reset the sensors to their zero point.

virtual void	setBrakeMode (AbstractMotor::brakeMode mode)=0
	Set the brake mode for each motor.

virtual void	setEncoderUnits (AbstractMotor::encoderUnits units)=0
	Set the encoder units for each motor.

virtual void	setGearing (AbstractMotor::gearset gearset)=0
	Set the gearset for each motor.

virtual void	setMaxVelocity (double imaxVelocity)=0
	Sets a new maximum velocity in RPM.

virtual double	getMaxVelocity () const =0

virtual void	setMaxVoltage (double imaxVoltage)=0
	Sets a new maximum voltage in mV in the range `[0-12000]`.

virtual double	getMaxVoltage () const =0

Public Member Functions inherited from okapi::ReadOnlyChassisModel
virtual	~ReadOnlyChassisModel ()=default

virtual std::valarray< std::int32_t >	getSensorVals () const =0
	Read the sensors.

Detailed Description

A version of the ReadOnlyChassisModel that also supports write methods, such as setting motor speed.

Because this class can write to motors, there can only be one owner and as such copying is disabled.

Definition at line 21 of file chassisModel.hpp.

Constructor & Destructor Documentation

◆ ChassisModel() [1/2]

okapi::ChassisModel::ChassisModel ( )

explicitdefault

◆ ChassisModel() [2/2]

okapi::ChassisModel::ChassisModel ( const ChassisModel & )

delete

Member Function Documentation

◆ arcade()

virtual void okapi::ChassisModel::arcade	(	double	iforwardSpeed,
		double	iyaw,
		double	ithreshold = `0`
	)

pure virtual

Drive the robot with an arcade drive layout.

Uses voltage mode.

Parameters

iforwardSpeed	speed forward direction
iyaw	speed around the vertical axis
ithreshold	deadband on joystick values

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ curvature()

virtual void okapi::ChassisModel::curvature	(	double	iforwardSpeed,
		double	icurvature,
		double	ithreshold = `0`
	)

pure virtual

Drive the robot with a curvature drive layout.

The robot drives in constant radius turns where you control the curvature (inverse of radius) you drive in. This is advantageous because the forward speed will not affect the rate of turning. The algorithm switches to arcade if the forward speed is 0. Uses voltage mode.

Parameters

iforwardSpeed	speed in the forward direction
icurvature	curvature (inverse of radius) to drive in
ithreshold	deadband on joystick values

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ driveVector()

virtual void okapi::ChassisModel::driveVector	(	double	iforwardSpeed,
		double	iyaw
	)

pure virtual

Drive the robot in an arc (using open-loop control).

Uses velocity mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

Parameters

iforwadSpeed	speed in the forward direction
iyaw	speed around the vertical axis

Implemented in okapi::XDriveModel, okapi::HDriveModel, and okapi::SkidSteerModel.

◆ driveVectorVoltage()

virtual void okapi::ChassisModel::driveVectorVoltage	(	double	iforwardSpeed,
		double	iyaw
	)

pure virtual

Drive the robot in an arc.

Uses voltage mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

Parameters

iforwadSpeed	speed in the forward direction
iyaw	speed around the vertical axis

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ forward()

virtual void okapi::ChassisModel::forward ( double ispeed )

pure virtual

Drive the robot forwards (using open-loop control).

Uses velocity mode.

Parameters

ipower motor power

Implemented in okapi::XDriveModel, okapi::HDriveModel, and okapi::SkidSteerModel.

◆ getMaxVelocity()

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

pure virtual

Returns: The current maximum velocity.

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ getMaxVoltage()

virtual double okapi::ChassisModel::getMaxVoltage ( ) const

pure virtual

Returns: The maximum voltage in mV [0-12000].

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ left()

virtual void okapi::ChassisModel::left ( double ispeed )

pure virtual

Power the left side motors.

Uses velocity mode.

Parameters

ipower motor power

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ operator=()

ChassisModel & okapi::ChassisModel::operator= ( const ChassisModel & )

delete

◆ resetSensors()

virtual void okapi::ChassisModel::resetSensors ( )

pure virtual

Reset the sensors to their zero point.

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, okapi::ThreeEncoderSkidSteerModel, okapi::ThreeEncoderXDriveModel, and okapi::XDriveModel.

◆ right()

virtual void okapi::ChassisModel::right ( double ispeed )

pure virtual

Power the right side motors.

Uses velocity mode.

Parameters

ipower motor power

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ rotate()

virtual void okapi::ChassisModel::rotate ( double ispeed )

pure virtual

Turn the robot clockwise (using open-loop control).

Uses velocity mode.

Parameters

ispeed motor power

Implemented in okapi::XDriveModel, okapi::HDriveModel, and okapi::SkidSteerModel.

◆ setBrakeMode()

virtual void okapi::ChassisModel::setBrakeMode ( AbstractMotor::brakeMode mode )

pure virtual

Set the brake mode for each motor.

Parameters

mode	new brake mode

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ setEncoderUnits()

virtual void okapi::ChassisModel::setEncoderUnits ( AbstractMotor::encoderUnits units )

pure virtual

Set the encoder units for each motor.

Parameters

units new motor encoder units

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ setGearing()

virtual void okapi::ChassisModel::setGearing ( AbstractMotor::gearset gearset )

pure virtual

Set the gearset for each motor.

Parameters

gearset new motor gearset

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ setMaxVelocity()

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

pure virtual

Sets a new maximum velocity in RPM.

The usable maximum depends on the maximum velocity of the currently installed gearset. If the configured maximum velocity is greater than the attainable maximum velocity from the currently installed gearset, the ChassisModel will still scale to that velocity.

Parameters

imaxVelocity The new maximum velocity.

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ setMaxVoltage()

virtual void okapi::ChassisModel::setMaxVoltage ( double imaxVoltage )

pure virtual

Sets a new maximum voltage in mV in the range [0-12000].

Parameters

imaxVoltage The new maximum voltage.

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ stop()

virtual void okapi::ChassisModel::stop ( )

pure virtual

Stop the robot (set all the motors to 0).

Uses velocity mode.

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

◆ tank()

virtual void okapi::ChassisModel::tank	(	double	ileftSpeed,
		double	irightSpeed,
		double	ithreshold = `0`
	)

pure virtual

Drive the robot with a tank drive layout.

Uses voltage mode.

Parameters

ileftSpeed	left side speed
irightSpeed	right side speed
ithreshold	deadband on joystick values

Implemented in okapi::HDriveModel, okapi::SkidSteerModel, and okapi::XDriveModel.

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

include/okapi/api/chassis/model/chassisModel.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ChassisModel() [1/2]

◆ ChassisModel() [2/2]

Member Function Documentation

◆ arcade()

◆ curvature()

◆ driveVector()

◆ driveVectorVoltage()

◆ forward()

◆ getMaxVelocity()

◆ getMaxVoltage()

◆ left()

◆ operator=()

◆ resetSensors()

◆ right()

◆ rotate()

◆ setBrakeMode()

◆ setEncoderUnits()

◆ setGearing()

◆ setMaxVelocity()

◆ setMaxVoltage()

◆ stop()

◆ tank()