okapi::ThreeEncoderXDriveModel Class Reference

#include <threeEncoderXDriveModel.hpp>

Inheritance diagram for okapi::ThreeEncoderXDriveModel:

Public Member Functions
	ThreeEncoderXDriveModel (std::shared_ptr< AbstractMotor > itopLeftMotor, std::shared_ptr< AbstractMotor > itopRightMotor, std::shared_ptr< AbstractMotor > ibottomRightMotor, std::shared_ptr< AbstractMotor > ibottomLeftMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, std::shared_ptr< ContinuousRotarySensor > imiddleEnc, double imaxVelocity, double imaxVoltage)
	Model for an x drive (wheels at 45 deg from a skid steer drive).
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::XDriveModel
	XDriveModel (std::shared_ptr< AbstractMotor > itopLeftMotor, std::shared_ptr< AbstractMotor > itopRightMotor, std::shared_ptr< AbstractMotor > ibottomRightMotor, std::shared_ptr< AbstractMotor > ibottomLeftMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, double imaxVelocity, double imaxVoltage)
	Model for an x drive (wheels at 45 deg from a skid steer drive).
void	forward (double ipower) override
	Drive the robot forwards (using open-loop control).
void	driveVector (double iforwardSpeed, double iyaw) 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 ipower) override
	Turn the robot clockwise (using open-loop control).
void	strafe (double ipower)
	Drive the robot side-ways (using open-loop control) where positive ipower is to the right and negative ipower is to the left.
void	strafeVector (double istrafeSpeed, double iyaw)
	Strafe the robot in an arc (using open-loop control) where positive istrafeSpeed is to the right and negative istrafeSpeed is to the left.
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	xArcade (double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold=0)
	Drive the robot with an arcade drive layout.
virtual void	fieldOrientedXArcade (double ixSpeed, double iySpeed, double iyaw, QAngle iangle, double ithreshold=0)
	Drive the robot with a field-oriented arcade drive layout.
void	left (double ispeed) override
	Power the left side motors.
void	right (double ispeed) override
	Power the right side 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 >	getTopLeftMotor () const
	Returns the top left motor.
std::shared_ptr< AbstractMotor >	getTopRightMotor () const
	Returns the top right motor.
std::shared_ptr< AbstractMotor >	getBottomRightMotor () const
	Returns the bottom right motor.
std::shared_ptr< AbstractMotor >	getBottomLeftMotor () const
	Returns the bottom left 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::XDriveModel
double	maxVelocity
double	maxVoltage
std::shared_ptr< AbstractMotor >	topLeftMotor
std::shared_ptr< AbstractMotor >	topRightMotor
std::shared_ptr< AbstractMotor >	bottomRightMotor
std::shared_ptr< AbstractMotor >	bottomLeftMotor
std::shared_ptr< ContinuousRotarySensor >	leftSensor
std::shared_ptr< ContinuousRotarySensor >	rightSensor

Detailed Description

Definition at line 11 of file threeEncoderXDriveModel.hpp.

Constructor & Destructor Documentation

ThreeEncoderXDriveModel()

okapi::ThreeEncoderXDriveModel::ThreeEncoderXDriveModel	(	std::shared_ptr< AbstractMotor >	itopLeftMotor,
		std::shared_ptr< AbstractMotor >	itopRightMotor,
		std::shared_ptr< AbstractMotor >	ibottomRightMotor,
		std::shared_ptr< AbstractMotor >	ibottomLeftMotor,
		std::shared_ptr< ContinuousRotarySensor >	ileftEnc,
		std::shared_ptr< ContinuousRotarySensor >	irightEnc,
		std::shared_ptr< ContinuousRotarySensor >	imiddleEnc,
		double	imaxVelocity,
		double	imaxVoltage
	)

Model for an x drive (wheels at 45 deg from a skid steer drive).

When all motors are powered +100%, the robot should move forward in a straight line.

Parameters

itopLeftMotor	The top left motor.
itopRightMotor	The top right motor.
ibottomRightMotor	The bottom right motor.
ibottomLeftMotor	The bottom left motor.
ileftEnc	The left side encoder.
irightEnc	The right side encoder.
imiddleEnc	The middle encoder.

Member Function Documentation

getSensorVals()

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

overridevirtual

Read the sensors.

Returns

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

Implements okapi::ReadOnlyChassisModel.

resetSensors()

void okapi::ThreeEncoderXDriveModel::resetSensors ( )

overridevirtual

Reset the sensors to their zero point.

Implements okapi::ChassisModel.

Member Data Documentation

middleSensor

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

protected

Definition at line 48 of file threeEncoderXDriveModel.hpp.

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

• include/okapi/api/chassis/model/threeEncoderXDriveModel.hpp