drive.hpp File Reference

(top-level) More...

#include "LightLib/lib.hpp"

Go to the source code of this file.

Classes
class	Coordinate
	One waypoint in the legacy injected-path representation. More...

Enumerations
enum	DistanceSide { BACK = 0 , RIGHT = 1 , LEFT = 2 }
	Which side a distance sensor faces for the legacy distance helpers. More...
enum	AutonMode { STANLEY = 0 , ODOM = 1 , PLAIN = 2 , BRAIN = 3 }
	Auton mode selector for the legacy path runner. More...
enum	Wait { WAIT = 0 , QUICK = 1 , CHAIN = 2 }
	Wait-mode selector for pidWait(). More...

Functions
Internal math (legacy path helpers)
double	getDistance (Coordinate point1, Coordinate point2)
double	getTheta (Coordinate point1, Coordinate point2, light::drive_directions direction)
double	getVelocity (double voltage)
double	getTimeToPoint (double distance, double velocity)
Coordinate	getPoint (Coordinate startPoint, double distance)
Coordinate	getPoint (Coordinate startPoint, double v_left, double v_right, double time)
std::vector< Coordinate >	injectPoint (Coordinate startPoint, Coordinate endPoint, e_angle_behavior behavior, double left, double right, double theta, double lookAhead)
std::vector< Coordinate >	injectPath (std::vector< Coordinate > coordList, double lookAhead)
Position wrappers
void	setPosition (double x, double y)
void	setPosition (double x, double y, double t)
double	getDistanceActual (DistanceSide sensor, bool use_theta, double failsafe)
Wait wrappers
void	pidWait (Wait type)
void	pidWaitUntil (okapi::QLength distance)
void	pidWaitUntil (okapi::QAngle distance)
void	pidWaitUntil (Coordinate coordinate)
void	delayMillis (int millis)
void	delayMillis (int millis, bool ignore)
Drive-set wrappers
void	driveSet (double distance, int speed, bool slew)
void	driveSet (double distance, int speed)
void	driveSmartSet (double distance, int speed)
Turn-set wrappers
void	turnSet (double theta, int speed, e_angle_behavior behavior)
void	turnSet (double theta, int speed)
void	turnSet (Coordinate point, drive_directions direction, int speed, e_angle_behavior behavior)
void	turnSet (Coordinate point, drive_directions direction, int speed)
void	turnSetRelative (double theta, int speed, e_angle_behavior behavior)
void	turnSetRelative (double theta, int speed)
Swing-set wrappers
void	swingSet (light::e_swing side, double theta, double main, double opp, light::e_angle_behavior behavior)
void	swingSet (light::e_swing side, double theta, double main, light::e_angle_behavior behavior)
void	swingSet (light::e_swing side, double theta, double main, double opp)
void	swingSet (light::e_swing side, double theta, double main)
Path debugging
void	getPath ()
	Print the current autonPath to the PROS terminal.
void	getPathInjected ()
	Print the post-injection autonPath to the PROS terminal.

Variables
const double	WHEEL_DIAMETER = 3.3369184232
	Default wheel diameter, inches.
const double	ROBOT_WIDTH = 11.4375
	Default robot track width, inches.
const int	KEY = 267267
	Misc. magic constant retained for legacy code.
double	angle_offset
	Heading offset applied by the legacy helpers.
AutonMode	autonMode
	Active auton mode for the legacy runner.
std::vector< Coordinate >	autonPath
	Path being executed by the legacy runner.

Detailed Description

(top-level)

Legacy global-namespace drive helpers — short-name wrappers around the light::Drive API plus a Stanley/path-injection helper that predates the RAMSETE follower.

Most new code should use the light::Drive methods directly. These wrappers remain for older auton routines and for the path-injection / Stanley path-follower entry points.

Definition in file drive.hpp.

Enumeration Type Documentation

AutonMode

enum AutonMode

Auton mode selector for the legacy path runner.

Enumerator
STANLEY	Stanley path-follower.
ODOM	Odom-based motion primitives.
PLAIN	Direct PID drive sequencing.
BRAIN	Driven by the brain-screen selector.

Definition at line 29 of file drive.hpp.

DistanceSide

enum DistanceSide

Which side a distance sensor faces for the legacy distance helpers.

Enumerator
BACK
RIGHT
LEFT

Definition at line 22 of file drive.hpp.

Wait

enum Wait

Wait-mode selector for pidWait().

Enumerator
WAIT
QUICK
CHAIN

Definition at line 37 of file drive.hpp.

Function Documentation

delayMillis() [1/2]

void delayMillis

(

int

millis

)

delayMillis() [2/2]

void delayMillis	(	int	millis,
		bool	ignore
	)

driveSet() [1/2]

void driveSet	(	double	distance,
		int	speed
	)

driveSet() [2/2]

void driveSet	(	double	distance,
		int	speed,
		bool	slew
	)

driveSmartSet()

void driveSmartSet	(	double	distance,
		int	speed
	)

getDistance()

double getDistance	(	Coordinate	point1,
		Coordinate	point2
	)

getDistanceActual()

double getDistanceActual	(	DistanceSide	sensor,
		bool	use_theta,
		double	failsafe
	)

getPath()

void getPath

(

)

Print the current autonPath to the PROS terminal.

getPathInjected()

void getPathInjected

(

)

Print the post-injection autonPath to the PROS terminal.

getPoint() [1/2]

Coordinate getPoint	(	Coordinate	startPoint,
		double	distance
	)

getPoint() [2/2]

Coordinate getPoint	(	Coordinate	startPoint,
		double	v_left,
		double	v_right,
		double	time
	)

getTheta()

double getTheta	(	Coordinate	point1,
		Coordinate	point2,
		light::drive_directions	direction
	)

getTimeToPoint()

double getTimeToPoint	(	double	distance,
		double	velocity
	)

getVelocity()

double getVelocity

(

double

voltage

)

injectPath()

std::vector< Coordinate > injectPath	(	std::vector< Coordinate >	coordList,
		double	lookAhead
	)

injectPoint()

std::vector< Coordinate > injectPoint	(	Coordinate	startPoint,
		Coordinate	endPoint,
		e_angle_behavior	behavior,
		double	left,
		double	right,
		double	theta,
		double	lookAhead
	)

pidWait()

void pidWait

(

Wait

type

)

pidWaitUntil() [1/3]

void pidWaitUntil

(

Coordinate

coordinate

)

pidWaitUntil() [2/3]

void pidWaitUntil

(

okapi::QAngle

distance

)

pidWaitUntil() [3/3]

void pidWaitUntil

(

okapi::QLength

distance

)

setPosition() [1/2]

void setPosition	(	double	x,
		double	y
	)

setPosition() [2/2]

void setPosition	(	double	x,
		double	y,
		double	t
	)

swingSet() [1/4]

void swingSet	(	light::e_swing	side,
		double	theta,
		double	main
	)

swingSet() [2/4]

void swingSet	(	light::e_swing	side,
		double	theta,
		double	main,
		double	opp
	)

swingSet() [3/4]

void swingSet	(	light::e_swing	side,
		double	theta,
		double	main,
		double	opp,
		light::e_angle_behavior	behavior
	)

swingSet() [4/4]

void swingSet	(	light::e_swing	side,
		double	theta,
		double	main,
		light::e_angle_behavior	behavior
	)

turnSet() [1/4]

void turnSet	(	Coordinate	point,
		drive_directions	direction,
		int	speed
	)

turnSet() [2/4]

void turnSet	(	Coordinate	point,
		drive_directions	direction,
		int	speed,
		e_angle_behavior	behavior
	)

turnSet() [3/4]

void turnSet	(	double	theta,
		int	speed
	)

turnSet() [4/4]

void turnSet	(	double	theta,
		int	speed,
		e_angle_behavior	behavior
	)

turnSetRelative() [1/2]

void turnSetRelative	(	double	theta,
		int	speed
	)

turnSetRelative() [2/2]

void turnSetRelative	(	double	theta,
		int	speed,
		e_angle_behavior	behavior
	)

Variable Documentation

angle_offset

double angle_offset

extern

Heading offset applied by the legacy helpers.

autonMode

AutonMode autonMode

extern

Active auton mode for the legacy runner.

autonPath

std::vector<Coordinate> autonPath

extern

Path being executed by the legacy runner.

KEY

const int KEY = 267267

Misc. magic constant retained for legacy code.

Definition at line 19 of file drive.hpp.

ROBOT_WIDTH

const double ROBOT_WIDTH = 11.4375

Default robot track width, inches.

Definition at line 18 of file drive.hpp.

WHEEL_DIAMETER

const double WHEEL_DIAMETER = 3.3369184232

Default wheel diameter, inches.

Definition at line 17 of file drive.hpp.