#include <hDriveModel.hpp>

Inheritance diagram for okapi::HDriveModel:

Public Member Functions
	HDriveModel (std::shared_ptr< AbstractMotor > ileftSideMotor, std::shared_ptr< AbstractMotor > irightSideMotor, std::shared_ptr< AbstractMotor > imiddleMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, std::shared_ptr< ContinuousRotarySensor > imiddleEnc, double imaxVelocity, double imaxVoltage)
	Model for an h-drive (wheels parallel with robot's direction of motion, with an additional wheel perpendicular to those).

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

void	driveVector (double iySpeed, double izRotation) override
	Drive the robot in an arc (using open-loop control).

void	driveVectorVoltage (double iforwardSpeed, double iyaw) override
	Drive the robot in an arc.

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

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

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

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

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

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

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

void	left (double ispeed) override
	Power the left side motors.

void	right (double ispeed) override
	Power the right side motors.

virtual void	middle (double ispeed)
	Power the middle motors.

std::valarray< std::int32_t >	getSensorVals () const override
	Read the sensors.

void	resetSensors () override
	Reset the sensors to their zero point.

void	setBrakeMode (AbstractMotor::brakeMode mode) override
	Set the brake mode for each motor.

void	setEncoderUnits (AbstractMotor::encoderUnits units) override
	Set the encoder units for each motor.

void	setGearing (AbstractMotor::gearset gearset) override
	Set the gearset for each motor.

void	setMaxVelocity (double imaxVelocity) override
	Sets a new maximum velocity in RPM.

double	getMaxVelocity () const override

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

double	getMaxVoltage () const override

std::shared_ptr< AbstractMotor >	getLeftSideMotor () const
	Returns the left side motor.

std::shared_ptr< AbstractMotor >	getRightSideMotor () const
	Returns the left side motor.

std::shared_ptr< AbstractMotor >	getMiddleMotor () const

Public Member Functions inherited from okapi::ChassisModel
	ChassisModel ()=default

	ChassisModel (const ChassisModel &)=delete

ChassisModel &	operator= (const ChassisModel &)=delete

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

Protected Attributes
double	maxVelocity

double	maxVoltage

std::shared_ptr< AbstractMotor >	leftSideMotor

std::shared_ptr< AbstractMotor >	rightSideMotor

std::shared_ptr< AbstractMotor >	middleMotor

std::shared_ptr< ContinuousRotarySensor >	leftSensor

std::shared_ptr< ContinuousRotarySensor >	rightSensor

std::shared_ptr< ContinuousRotarySensor >	middleSensor

Detailed Description

Definition at line 13 of file hDriveModel.hpp.

Constructor & Destructor Documentation

◆ HDriveModel()

okapi::HDriveModel::HDriveModel	(	std::shared_ptr< AbstractMotor >	ileftSideMotor,
		std::shared_ptr< AbstractMotor >	irightSideMotor,
		std::shared_ptr< AbstractMotor >	imiddleMotor,
		std::shared_ptr< ContinuousRotarySensor >	ileftEnc,
		std::shared_ptr< ContinuousRotarySensor >	irightEnc,
		std::shared_ptr< ContinuousRotarySensor >	imiddleEnc,
		double	imaxVelocity,
		double	imaxVoltage
	)

Model for an h-drive (wheels parallel with robot's direction of motion, with an additional wheel perpendicular to those).

When the left and right side motors are powered +100%, the robot should move forward in a straight line. When the middle motor is powered +100%, the robot should strafe right in a straight line.

Parameters

ileftSideMotor	The left side motor.
irightSideMotor	The right side motor.
imiddleMotor	The middle (perpendicular) motor.
ileftEnc	The left side encoder.
irightEnc	The right side encoder.
imiddleEnc	The middle encoder.

Member Function Documentation

◆ arcade()

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

overridevirtual

Drive the robot with an arcade drive layout.

Uses voltage mode. Sets the middle motor to zero velocity.

Parameters

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

Implements okapi::ChassisModel.

◆ curvature()

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

overridevirtual

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. Sets the middle motor to zero velocity.

Parameters

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

Implements okapi::ChassisModel.

◆ driveVector()

void okapi::HDriveModel::driveVector	(	double	iySpeed,
		double	izRotation
	)

overridevirtual

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

Uses velocity mode. Sets the middle motor to zero velocity.

The algorithm is (approximately): leftPower = ySpeed + zRotation rightPower = ySpeed - zRotation

Parameters

iySpeed	speed on y axis (forward)
izRotation	speed around z axis (up)

Implements okapi::ChassisModel.

◆ driveVectorVoltage()

void okapi::HDriveModel::driveVectorVoltage	(	double	iforwardSpeed,
		double	iyaw
	)

overridevirtual

Drive the robot in an arc.

Uses voltage mode. Sets the middle motor to zero velocity.

The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

Parameters

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

Implements okapi::ChassisModel.

◆ forward()

void okapi::HDriveModel::forward ( double ispeed )

overridevirtual

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

Uses velocity mode. Sets the middle motor to zero velocity.

Parameters

ispeed motor power

Implements okapi::ChassisModel.

◆ getLeftSideMotor()

std::shared_ptr< AbstractMotor > okapi::HDriveModel::getLeftSideMotor ( ) const

Returns the left side motor.

Returns: the left side motor

◆ getMaxVelocity()

double okapi::HDriveModel::getMaxVelocity ( ) const

overridevirtual

Returns: The current maximum velocity.

Implements okapi::ChassisModel.

◆ getMaxVoltage()

double okapi::HDriveModel::getMaxVoltage ( ) const

overridevirtual

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

Implements okapi::ChassisModel.

◆ getMiddleMotor()

std::shared_ptr< AbstractMotor > okapi::HDriveModel::getMiddleMotor ( ) const

Returns: The middle motor.

◆ getRightSideMotor()

std::shared_ptr< AbstractMotor > okapi::HDriveModel::getRightSideMotor ( ) const

Returns the left side motor.

Returns: the left side motor

◆ getSensorVals()

std::valarray< std::int32_t > okapi::HDriveModel::getSensorVals ( ) const

overridevirtual

Read the sensors.

Returns: sensor readings in the format {left, right, middle}

Implements okapi::ReadOnlyChassisModel.

◆ hArcade()

virtual void okapi::HDriveModel::hArcade	(	double	irightSpeed,
		double	iforwardSpeed,
		double	iyaw,
		double	ithreshold = `0`
	)

virtual

Drive the robot with an arcade drive layout.

Uses voltage mode.

Parameters

irightSpeed	speed to the right
iforwardSpeed	speed in the forward direction
iyaw	speed around the vertical axis
ithreshold	deadband on joystick values

◆ hCurvature()

virtual void okapi::HDriveModel::hCurvature	(	double	irightSpeed,
		double	iforwardSpeed,
		double	icurvature,
		double	ithreshold = `0`
	)

virtual

Drive the robot with an curvature drive layout.

Uses voltage mode.

Parameters

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

◆ left()

void okapi::HDriveModel::left ( double ispeed )

overridevirtual

Power the left side motors.

Uses velocity mode.

Parameters

ispeed The motor power.

Implements okapi::ChassisModel.

◆ middle()

virtual void okapi::HDriveModel::middle ( double ispeed )

virtual

Power the middle motors.

Uses velocity mode.

Parameters

ispeed The motor power.

◆ resetSensors()

void okapi::HDriveModel::resetSensors ( )

overridevirtual

Reset the sensors to their zero point.

Implements okapi::ChassisModel.

◆ right()

void okapi::HDriveModel::right ( double ispeed )

overridevirtual

Power the right side motors.

Uses velocity mode.

Parameters

ispeed The motor power.

Implements okapi::ChassisModel.

◆ rotate()

void okapi::HDriveModel::rotate ( double ispeed )

overridevirtual

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

Uses velocity mode. Sets the middle motor to zero velocity.

Parameters

ispeed motor power

Implements okapi::ChassisModel.

◆ setBrakeMode()

void okapi::HDriveModel::setBrakeMode ( AbstractMotor::brakeMode mode )

overridevirtual

Set the brake mode for each motor.

Parameters

mode	new brake mode

Implements okapi::ChassisModel.

◆ setEncoderUnits()

void okapi::HDriveModel::setEncoderUnits ( AbstractMotor::encoderUnits units )

overridevirtual

Set the encoder units for each motor.

Parameters

units new motor encoder units

Implements okapi::ChassisModel.

◆ setGearing()

void okapi::HDriveModel::setGearing ( AbstractMotor::gearset gearset )

overridevirtual

Set the gearset for each motor.

Parameters

gearset new motor gearset

Implements okapi::ChassisModel.

◆ setMaxVelocity()

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

overridevirtual

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.

Implements okapi::ChassisModel.

◆ setMaxVoltage()

void okapi::HDriveModel::setMaxVoltage ( double imaxVoltage )

overridevirtual

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

Parameters

imaxVoltage The new maximum voltage.

Implements okapi::ChassisModel.

◆ stop()

void okapi::HDriveModel::stop ( )

overridevirtual

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

Uses velocity mode.

Implements okapi::ChassisModel.

◆ tank()

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

overridevirtual

Drive the robot with a tank drive layout.

Uses voltage mode. Sets the middle motor to zero velocity.

Parameters

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

Implements okapi::ChassisModel.

Member Data Documentation

◆ leftSensor

std::shared_ptr<ContinuousRotarySensor> okapi::HDriveModel::leftSensor

protected

Definition at line 243 of file hDriveModel.hpp.

◆ leftSideMotor

std::shared_ptr<AbstractMotor> okapi::HDriveModel::leftSideMotor

protected

Definition at line 240 of file hDriveModel.hpp.

◆ maxVelocity

double okapi::HDriveModel::maxVelocity

protected

Definition at line 238 of file hDriveModel.hpp.

◆ maxVoltage

double okapi::HDriveModel::maxVoltage

protected

Definition at line 239 of file hDriveModel.hpp.

◆ middleMotor

std::shared_ptr<AbstractMotor> okapi::HDriveModel::middleMotor

protected

Definition at line 242 of file hDriveModel.hpp.

◆ middleSensor

std::shared_ptr<ContinuousRotarySensor> okapi::HDriveModel::middleSensor

protected

Definition at line 245 of file hDriveModel.hpp.

◆ rightSensor

std::shared_ptr<ContinuousRotarySensor> okapi::HDriveModel::rightSensor

protected

Definition at line 244 of file hDriveModel.hpp.

◆ rightSideMotor

std::shared_ptr<AbstractMotor> okapi::HDriveModel::rightSideMotor

protected

Definition at line 241 of file hDriveModel.hpp.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HDriveModel()

Member Function Documentation

◆ arcade()

◆ curvature()

◆ driveVector()

◆ driveVectorVoltage()

◆ forward()

◆ getLeftSideMotor()

◆ getMaxVelocity()

◆ getMaxVoltage()

◆ getMiddleMotor()

◆ getRightSideMotor()

◆ getSensorVals()

◆ hArcade()

◆ hCurvature()

◆ left()

◆ middle()

◆ resetSensors()

◆ right()

◆ rotate()

◆ setBrakeMode()

◆ setEncoderUnits()

◆ setGearing()

◆ setMaxVelocity()

◆ setMaxVoltage()

◆ stop()

◆ tank()

Member Data Documentation

◆ leftSensor

◆ leftSideMotor

◆ maxVelocity

◆ maxVoltage

◆ middleMotor

◆ middleSensor

◆ rightSensor

◆ rightSideMotor