drive.hpp File Reference

Tank chassis class — the main user-facing API for autonomous and opcontrol drive motions. More...

#include <functional>
#include <iostream>
#include <tuple>
#include "LightLib/control/pid.hpp"
#include "LightLib/control/slew.hpp"
#include "LightLib/drive/tracking_wheel.hpp"
#include "LightLib/util/util.hpp"
#include "light/motor_group.hpp"
#include "light/motors.h"
#include "light/units.hpp"

Go to the source code of this file.

Classes
class	light::Drive
	Tank-drive chassis class. More...
struct	light::Drive::const_and_name

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

Macros
#define	DRIVE_INTEGRATED   1
#define	DRIVE_ADI_ENCODER   2
#define	DRIVE_ROTATION   3
#define	ODOM_TRACKER   4

Typedefs
using	light::PoseGetterFn = pose(*)()
	External pose getter used by register_pose_source().
using	light::PoseSetterFn = void(*)(pose)
	External pose setter used by register_pose_source().

Functions
void	light::register_pose_source (PoseGetterFn getter, PoseSetterFn setter)
	Register an external pose source.

Detailed Description

Tank chassis class — the main user-facing API for autonomous and opcontrol drive motions.

Handles motors, brake modes, drive PIDs, swing PIDs, turn PIDs, slew, and odom-based motion primitives.

Build a Drive instance in main.cpp from your motor port lists and call chassis.initialize() (or the LightLib helpers) before using it.

Definition in file drive.hpp.

Macro Definition Documentation

DRIVE_ADI_ENCODER

#define DRIVE_ADI_ENCODER   2

Definition at line 3692 of file drive.hpp.

DRIVE_INTEGRATED

#define DRIVE_INTEGRATED   1

Definition at line 3691 of file drive.hpp.

DRIVE_ROTATION

#define DRIVE_ROTATION   3

Definition at line 3693 of file drive.hpp.

ODOM_TRACKER

#define ODOM_TRACKER   4

Definition at line 3694 of file drive.hpp.