#include <threeEncoderSkidSteerModel.hpp>

Inheritance diagram for okapi::ThreeEncoderSkidSteerModel:

Public Member Functions
	ThreeEncoderSkidSteerModel (std::shared_ptr< AbstractMotor > ileftSideMotor, std::shared_ptr< AbstractMotor > irightSideMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, std::shared_ptr< ContinuousRotarySensor > imiddleEnc, double imaxVelocity, double imaxVoltage)
	Model for a skid steer drive (wheels parallel with robot's direction of motion).

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

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

Public Member Functions inherited from okapi::SkidSteerModel
	SkidSteerModel (std::shared_ptr< AbstractMotor > ileftSideMotor, std::shared_ptr< AbstractMotor > irightSideMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, double imaxVelocity, double imaxVoltage)
	Model for a skid steer drive (wheels parallel with robot's direction of motion).

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.

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

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

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.

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
std::shared_ptr< ContinuousRotarySensor >	middleSensor

Protected Attributes inherited from okapi::SkidSteerModel
double	maxVelocity

double	maxVoltage

std::shared_ptr< AbstractMotor >	leftSideMotor

std::shared_ptr< AbstractMotor >	rightSideMotor

std::shared_ptr< ContinuousRotarySensor >	leftSensor

std::shared_ptr< ContinuousRotarySensor >	rightSensor

Detailed Description

Definition at line 11 of file threeEncoderSkidSteerModel.hpp.

Constructor & Destructor Documentation

◆ ThreeEncoderSkidSteerModel()

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

Model for a skid steer drive (wheels parallel with robot's direction of motion).

When all motors are powered +127, the robot should move forward in a straight line.

Parameters

ileftSideMotor	left side motor
irightSideMotor	right side motor
ileftEnc	left side encoder
imiddleEnc	middle encoder (mounted perpendicular to the left and right side encoders)
irightEnc	right side encoder

Member Function Documentation

◆ getSensorVals()

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

overridevirtual

Read the sensors.

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

Reimplemented from okapi::SkidSteerModel.

◆ resetSensors()

void okapi::ThreeEncoderSkidSteerModel::resetSensors ( )

overridevirtual

Reset the sensors to their zero point.

Reimplemented from okapi::SkidSteerModel.

Member Data Documentation

◆ middleSensor

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

protected

Definition at line 44 of file threeEncoderSkidSteerModel.hpp.

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

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

Public Member Functions

Protected Attributes