okapi Namespace Reference

Namespaces
namespace	literals

Classes
class	AbstractButton
class	AbstractMotor
class	AbstractRate
class	AbstractTimer
class	ADIButton
class	ADIEncoder
class	ADIGyro
class	ADIMotor
class	ADIUltrasonic
class	AsyncController
	Closed-loop controller that steps on its own in another thread and automatically writes to the output. More...
class	AsyncLinearMotionProfileController
class	AsyncMotionProfileController
class	AsyncMotionProfileControllerBuilder
class	AsyncPosControllerBuilder
class	AsyncPosIntegratedController
	Closed-loop controller that uses the V5 motor's onboard control to move. More...
class	AsyncPositionController
class	AsyncPosPIDController
class	AsyncVelControllerBuilder
class	AsyncVelIntegratedController
	Closed-loop controller that uses the V5 motor's onboard control to move. More...
class	AsyncVelocityController
class	AsyncVelPIDController
class	AsyncWrapper
class	AverageFilter
	A filter which returns the average of a list of values. More...
class	ButtonBase
class	ChassisController
class	ChassisControllerBuilder
class	ChassisControllerIntegrated
class	ChassisControllerPID
class	ChassisModel
	A version of the ReadOnlyChassisModel that also supports write methods, such as setting motor speed. More...
class	ChassisScales
class	ClosedLoopController
	An abstract closed-loop controller. More...
class	ComposableFilter
class	ConfigurableTimeUtilFactory
	A TimeUtilFactory that supplies the SettledUtil parameters passed in the constructor to every new TimeUtil instance. More...
class	ContinuousRotarySensor
class	Controller
class	ControllerButton
class	ControllerInput
class	ControllerOutput
class	ControllerRunner
class	ControllerRunnerFactory
class	ControllerUtil
struct	DefaultLoggerInitializer
class	DefaultOdomChassisController
class	DemaFilter
class	DistanceSensor
class	EKFFilter
class	EmaFilter
class	Filter
class	FilteredControllerInput
	A ControllerInput with a filter built in. More...
class	FlywheelSimulator
class	HDriveModel
class	IMU
class	IntegratedEncoder
class	IterativeController
	Closed-loop controller that steps iteratively using the step method below. More...
class	IterativeControllerFactory
class	IterativeMotorVelocityController
class	IterativePositionController
class	IterativePosPIDController
class	IterativeVelocityController
class	IterativeVelPIDController
class	Logger
class	MedianFilter
	A filter which returns the median value of list of values. More...
class	Motor
class	MotorGroup
class	OdomChassisController
class	Odometry
class	OdomMath
struct	OdomState
class	OffsetableControllerInput
class	OpticalSensor
class	PassthroughFilter
struct	PathfinderLimits
struct	PathfinderPoint
class	PIDTuner
class	PIDTunerFactory
struct	Point
class	Potentiometer
class	Rate
class	ReadOnlyChassisModel
	A version of the ChassisModel that only supports read methods, such as querying sensor values. More...
class	RotarySensor
class	RotationSensor
class	RQuantity
class	SettledUtil
class	SkidSteerModel
class	Supplier
	A supplier of instances of T. More...
class	ThreeEncoderOdometry
class	ThreeEncoderSkidSteerModel
class	ThreeEncoderXDriveModel
class	Timer
class	TimeUtil
	Utility class for holding an AbstractTimer, AbstractRate, and SettledUtil together in one class since they are commonly used together. More...
class	TimeUtilFactory
class	TwoEncoderOdometry
class	VelMath
class	VelMathFactory
class	XDriveModel

Enumerations
enum class	StateMode { FRAME_TRANSFORMATION , CARTESIAN }
	The mode for the OdomState calculated by Odometry. More...
enum class	ControllerId { master = 0 , partner = 1 }
	Which controller role this has. More...
enum class	ControllerAnalog { leftX = 0 , leftY = 1 , rightX = 2 , rightY = 3 }
	The analog sticks. More...
enum class	ControllerDigital {   L1 = 6 , L2 = 7 , R1 = 8 , R2 = 9 ,   up = 10 , down = 11 , left = 12 , right = 13 ,   X = 14 , B = 15 , Y = 16 , A = 17 }
	Various buttons. More...
enum class	OpticalSensorOutput { hue , saturation , brightness }
enum class	IMUAxes { z , y , x }

Functions
AbstractMotor::GearsetRatioPair	operator* (AbstractMotor::gearset gearset, double ratio)
constexpr QAcceleration	operator""_mps2 (long double x)
constexpr QAcceleration	operator""_mps2 (unsigned long long int x)
constexpr QAcceleration	operator""_G (long double x)
constexpr QAcceleration	operator""_G (unsigned long long int x)
constexpr QAngle	radian (1.0)
constexpr QAngle	operator""_rad (long double x)
constexpr QAngle	operator""_rad (unsigned long long int x)
constexpr QAngle	operator""_deg (long double x)
constexpr QAngle	operator""_deg (unsigned long long int x)
static QAngularSpeed	convertHertzToRadPerSec (QFrequency in)
constexpr QAngularSpeed	operator""_rpm (long double x)
constexpr QAngularSpeed	operator""_rpm (unsigned long long int x)
constexpr QForce	operator""_n (long double x)
constexpr QForce	operator""_n (unsigned long long int x)
constexpr QForce	operator""_lbf (long double x)
constexpr QForce	operator""_lbf (unsigned long long int x)
constexpr QForce	operator""_kp (long double x)
constexpr QForce	operator""_kp (unsigned long long int x)
constexpr QFrequency	Hz (1.0)
constexpr QFrequency	operator""_Hz (long double x)
constexpr QFrequency	operator""_Hz (unsigned long long int x)
constexpr QLength	meter (1.0)
constexpr QLength	operator""_mm (long double x)
constexpr QLength	operator""_cm (long double x)
constexpr QLength	operator""_m (long double x)
constexpr QLength	operator""_km (long double x)
constexpr QLength	operator""_mi (long double x)
constexpr QLength	operator""_yd (long double x)
constexpr QLength	operator""_ft (long double x)
constexpr QLength	operator""_in (long double x)
constexpr QLength	operator""_tile (long double x)
constexpr QLength	operator""_mm (unsigned long long int x)
constexpr QLength	operator""_cm (unsigned long long int x)
constexpr QLength	operator""_m (unsigned long long int x)
constexpr QLength	operator""_km (unsigned long long int x)
constexpr QLength	operator""_mi (unsigned long long int x)
constexpr QLength	operator""_yd (unsigned long long int x)
constexpr QLength	operator""_ft (unsigned long long int x)
constexpr QLength	operator""_in (unsigned long long int x)
constexpr QLength	operator""_tile (unsigned long long int x)
constexpr QMass	kg (1.0)
constexpr QMass	operator""_kg (long double x)
constexpr QMass	operator""_g (long double x)
constexpr QMass	operator""_t (long double x)
constexpr QMass	operator""_oz (long double x)
constexpr QMass	operator""_lb (long double x)
constexpr QMass	operator""_st (long double x)
constexpr QMass	operator""_kg (unsigned long long int x)
constexpr QMass	operator""_g (unsigned long long int x)
constexpr QMass	operator""_t (unsigned long long int x)
constexpr QMass	operator""_oz (unsigned long long int x)
constexpr QMass	operator""_lb (unsigned long long int x)
constexpr QMass	operator""_st (unsigned long long int x)
constexpr QPressure	pascal (1.0)
constexpr QPressure	operator""_Pa (long double x)
constexpr QPressure	operator""_Pa (unsigned long long int x)
constexpr QPressure	operator""_bar (long double x)
constexpr QPressure	operator""_bar (unsigned long long int x)
constexpr QPressure	operator""_psi (long double x)
constexpr QPressure	operator""_psi (unsigned long long int x)
constexpr QSpeed	operator""_mps (long double x)
constexpr QSpeed	operator""_miph (long double x)
constexpr QSpeed	operator""_kmph (long double x)
constexpr QSpeed	operator""_mps (unsigned long long int x)
constexpr QSpeed	operator""_miph (unsigned long long int x)
constexpr QSpeed	operator""_kmph (unsigned long long int x)
constexpr QTime	second (1.0)
constexpr QTime	operator""_s (long double x)
constexpr QTime	operator""_ms (long double x)
constexpr QTime	operator""_min (long double x)
constexpr QTime	operator""_h (long double x)
constexpr QTime	operator""_day (long double x)
constexpr QTime	operator""_s (unsigned long long int x)
constexpr QTime	operator""_ms (unsigned long long int x)
constexpr QTime	operator""_min (unsigned long long int x)
constexpr QTime	operator""_h (unsigned long long int x)
constexpr QTime	operator""_day (unsigned long long int x)
constexpr QTorque	operator""_nM (long double x)
constexpr QTorque	operator""_nM (unsigned long long int x)
constexpr QTorque	operator""_inLb (long double x)
constexpr QTorque	operator""_inLb (unsigned long long int x)
constexpr QTorque	operator""_ftLb (long double x)
constexpr QTorque	operator""_ftLb (unsigned long long int x)
constexpr Number	number (1.0)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	operator+ (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	operator- (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >
constexpr RQuantity< std::ratio_add< M1, M2 >, std::ratio_add< L1, L2 >, std::ratio_add< T1, T2 >, std::ratio_add< A1, A2 > >	operator* (const RQuantity< M1, L1, T1, A1 > &lhs, const RQuantity< M2, L2, T2, A2 > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	operator* (const double &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	operator* (const RQuantity< M, L, T, A > &lhs, const double &rhs)
template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >
constexpr RQuantity< std::ratio_subtract< M1, M2 >, std::ratio_subtract< L1, L2 >, std::ratio_subtract< T1, T2 >, std::ratio_subtract< A1, A2 > >	operator/ (const RQuantity< M1, L1, T1, A1 > &lhs, const RQuantity< M2, L2, T2, A2 > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_subtract< std::ratio< 0 >, M >, std::ratio_subtract< std::ratio< 0 >, L >, std::ratio_subtract< std::ratio< 0 >, T >, std::ratio_subtract< std::ratio< 0 >, A > >	operator/ (const double &x, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	operator/ (const RQuantity< M, L, T, A > &rhs, const double &x)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator== (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator!= (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator<= (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator>= (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator< (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr bool	operator> (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	abs (const RQuantity< M, L, T, A > &rhs)
template<typename R , typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_multiply< M, R >, std::ratio_multiply< L, R >, std::ratio_multiply< T, R >, std::ratio_multiply< A, R > >	pow (const RQuantity< M, L, T, A > &lhs)
template<int R, typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_multiply< M, std::ratio< R > >, std::ratio_multiply< L, std::ratio< R > >, std::ratio_multiply< T, std::ratio< R > >, std::ratio_multiply< A, std::ratio< R > > >	pow (const RQuantity< M, L, T, A > &lhs)
template<int R, typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_divide< M, std::ratio< R > >, std::ratio_divide< L, std::ratio< R > >, std::ratio_divide< T, std::ratio< R > >, std::ratio_divide< A, std::ratio< R > > >	root (const RQuantity< M, L, T, A > &lhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_divide< M, std::ratio< 2 > >, std::ratio_divide< L, std::ratio< 2 > >, std::ratio_divide< T, std::ratio< 2 > >, std::ratio_divide< A, std::ratio< 2 > > >	sqrt (const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_divide< M, std::ratio< 3 > >, std::ratio_divide< L, std::ratio< 3 > >, std::ratio_divide< T, std::ratio< 3 > >, std::ratio_divide< A, std::ratio< 3 > > >	cbrt (const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_multiply< M, std::ratio< 2 > >, std::ratio_multiply< L, std::ratio< 2 > >, std::ratio_multiply< T, std::ratio< 2 > >, std::ratio_multiply< A, std::ratio< 2 > > >	square (const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio_multiply< M, std::ratio< 3 > >, std::ratio_multiply< L, std::ratio< 3 > >, std::ratio_multiply< T, std::ratio< 3 > >, std::ratio_multiply< A, std::ratio< 3 > > >	cube (const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	hypot (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	mod (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >
constexpr RQuantity< M1, L1, T1, A1 >	copysign (const RQuantity< M1, L1, T1, A1 > &lhs, const RQuantity< M2, L2, T2, A2 > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	ceil (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	floor (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	trunc (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< M, L, T, A >	round (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
constexpr Number	sin (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr Number	cos (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr Number	tan (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	asin (const Number &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	acos (const Number &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	atan (const Number &rhs)
constexpr Number	sinh (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr Number	cosh (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr Number	tanh (const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	asinh (const Number &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	acosh (const Number &rhs)
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	atanh (const Number &rhs)
template<typename M , typename L , typename T , typename A >
constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > >	atan2 (const RQuantity< M, L, T, A > &lhs, const RQuantity< M, L, T, A > &rhs)
template<class QType >
std::string	getShortUnitName (QType q)
	Returns a short name for a unit.
constexpr double	ipow (const double base, const int expo)
	Integer power function.
constexpr double	cutRange (const double value, const double min, const double max)
	Cuts out a range from the number.
constexpr double	deadband (const double value, const double min, const double max)
	Deadbands a range of the number.
constexpr double	remapRange (const double value, const double oldMin, const double oldMax, const double newMin, const double newMax)
	Remap a value in the range [oldMin, oldMax] to the range [newMin, newMax].
template<typename E >
constexpr auto	toUnderlyingType (const E e) noexcept
	Converts an enum to its value type.
constexpr auto	boolToSign (const bool b) noexcept
	Converts a bool to a sign.
constexpr long	modulus (const long lhs, const long rhs) noexcept
	Computes lhs mod rhs using Euclidean division.
constexpr std::int32_t	gearsetToTPR (const AbstractMotor::gearset igearset) noexcept
	Converts a gearset to its TPR.
constexpr std::int8_t	transformADIPort (const std::int8_t port)
	Maps ADI port numbers/chars to numbers:

Variables
constexpr QAcceleration	mps2 = meter / (second * second)
constexpr QAcceleration	G = 9.80665 * mps2
constexpr QAngle	degree = static_cast<double>(2_pi / 360.0) * radian
constexpr QAngularSpeed	radps = radian / second
constexpr QAngularSpeed	rpm = (360 * degree) / minute
constexpr QAngularSpeed	cps = (0.01 * degree) / second
constexpr QArea	kilometer2 = kilometer * kilometer
constexpr QArea	meter2 = meter * meter
constexpr QArea	decimeter2 = decimeter * decimeter
constexpr QArea	centimeter2 = centimeter * centimeter
constexpr QArea	millimeter2 = millimeter * millimeter
constexpr QArea	inch2 = inch * inch
constexpr QArea	foot2 = foot * foot
constexpr QArea	mile2 = mile * mile
constexpr QForce	newton = (kg * meter) / (second * second)
constexpr QForce	poundforce = pound * G
constexpr QForce	kilopond = kg * G
constexpr QLength	decimeter = meter / 10
constexpr QLength	centimeter = meter / 100
constexpr QLength	millimeter = meter / 1000
constexpr QLength	kilometer = 1000 * meter
constexpr QLength	inch = 2.54 * centimeter
constexpr QLength	foot = 12 * inch
constexpr QLength	yard = 3 * foot
constexpr QLength	mile = 5280 * foot
constexpr QLength	tile = 24 * inch
constexpr QMass	gramme = 0.001 * kg
constexpr QMass	tonne = 1000 * kg
constexpr QMass	ounce = 0.028349523125 * kg
constexpr QMass	pound = 16 * ounce
constexpr QMass	stone = 14 * pound
constexpr QPressure	bar = 100000 * pascal
constexpr QPressure	psi = pound * G / inch2
constexpr QSpeed	mps = meter / second
constexpr QSpeed	miph = mile / hour
constexpr QSpeed	kmph = kilometer / hour
constexpr QTime	millisecond = second / 1000
constexpr QTime	minute = 60 * second
constexpr QTime	hour = 60 * minute
constexpr QTime	day = 24 * hour
constexpr QTorque	newtonMeter = newton * meter
constexpr QTorque	footPound = 1.355817948 * newtonMeter
constexpr QTorque	inchPound = 0.083333333 * footPound
constexpr QVolume	kilometer3 = kilometer2 * kilometer
constexpr QVolume	meter3 = meter2 * meter
constexpr QVolume	decimeter3 = decimeter2 * decimeter
constexpr QVolume	centimeter3 = centimeter2 * centimeter
constexpr QVolume	millimeter3 = millimeter2 * millimeter
constexpr QVolume	inch3 = inch2 * inch
constexpr QVolume	foot3 = foot2 * foot
constexpr QVolume	mile3 = mile2 * mile
constexpr QVolume	litre = decimeter3
std::shared_ptr< Logger >	defaultLogger
static DefaultLoggerInitializer	defaultLoggerInitializer
static constexpr double	inchToMM = 25.4
	Converts inches to millimeters.
static constexpr double	mmToInch = 0.0393700787
	Converts millimeters to inches.
static constexpr double	degreeToRadian = 0.01745329252
	Converts degrees to radians.
static constexpr double	radianToDegree = 57.2957795
	Converts radians to degrees.
static constexpr double	imeTorqueTPR = 627.2
	The ticks per rotation of the 393 IME with torque gearing.
static constexpr std::int32_t	imeSpeedTPR = 392
	The ticks per rotation of the 393 IME with speed gearing.
static constexpr double	imeTurboTPR = 261.333
	The ticks per rotation of the 393 IME with turbo gearing.
static constexpr double	ime269TPR = 240.448
	The ticks per rotation of the 269 IME.
static constexpr std::int32_t	imev5RedTPR = 1800
	The ticks per rotation of the V5 motor with a red gearset.
static constexpr std::int32_t	imev5GreenTPR = 900
	The ticks per rotation of the V5 motor with a green gearset.
static constexpr std::int32_t	imev5BlueTPR = 300
	The ticks per rotation of the V5 motor with a blue gearset.
static constexpr std::int32_t	quadEncoderTPR = 360
	The ticks per rotation of the red quadrature encoders.
static constexpr double	pi = 3.1415926535897932
	The value of pi.
static constexpr double	pi2 = 1.5707963267948966
	The value of pi divided by 2.
static constexpr double	gravity = 9.80665
	The conventional value of gravity of Earth.
static constexpr auto	OKAPI_PROS_ERR = INT32_MAX
	Same as PROS_ERR.
static constexpr auto	OKAPI_PROS_ERR_F = INFINITY
	Same as PROS_ERR_F.
static constexpr double	v5MotorMaxVoltage = 12000
	The maximum voltage that can be sent to V5 motors.
static constexpr std::int8_t	motorUpdateRate = 10
	The polling frequency of V5 motors in milliseconds.
static constexpr std::int8_t	adiUpdateRate = 10
	The polling frequency of the ADI ports in milliseconds.

Enumeration Type Documentation

ControllerAnalog

enum class okapi::ControllerAnalog

strong

The analog sticks.

Enumerator
leftX	leftX
leftY	leftY
rightX	rightX
rightY	rightY

Definition at line 22 of file controllerUtil.hpp.

ControllerDigital

enum class okapi::ControllerDigital

strong

Various buttons.

Enumerator
L1	L1.
L2	L2.
R1	R1.
R2	R2.
up	up
down	down
left	left
right	right
X	X.
B	B.
Y	Y.
A	A.

Definition at line 32 of file controllerUtil.hpp.

ControllerId

enum class okapi::ControllerId

strong

Which controller role this has.

Enumerator
master	master
partner	partner

Definition at line 14 of file controllerUtil.hpp.

IMUAxes

enum class okapi::IMUAxes

strong

Enumerator
z	Yaw Axis.
y	Pitch Axis.
x	Roll Axis.

Definition at line 13 of file IMU.hpp.

OpticalSensorOutput

enum class okapi::OpticalSensorOutput

strong

Enumerator
hue	The color.
saturation	The color's intensity relative to its brightness.
brightness	The amount of light.

Definition at line 14 of file opticalSensor.hpp.

StateMode

enum class okapi::StateMode

strong

The mode for the OdomState calculated by Odometry.

Enumerator
FRAME_TRANSFORMATION	+x is forward, +y is right, 0 degrees is along +x
CARTESIAN	+x is right, +y is forward, 0 degrees is along +y

Definition at line 12 of file stateMode.hpp.

Function Documentation

abs()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::abs ( const RQuantity< M, L, T, A > &  rhs )

constexpr

Definition at line 195 of file RQuantity.hpp.

acos()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::acos ( const Number &  rhs )

constexpr

Definition at line 357 of file RQuantity.hpp.

acosh()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::acosh ( const Number &  rhs )

constexpr

Definition at line 390 of file RQuantity.hpp.

asin()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::asin ( const Number &  rhs )

constexpr

Definition at line 351 of file RQuantity.hpp.

asinh()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::asinh ( const Number &  rhs )

constexpr

Definition at line 384 of file RQuantity.hpp.

atan()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::atan ( const Number &  rhs )

constexpr

Definition at line 363 of file RQuantity.hpp.

atan2()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::atan2 ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 403 of file RQuantity.hpp.

atanh()

constexpr RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > okapi::atanh ( const Number &  rhs )

constexpr

Definition at line 396 of file RQuantity.hpp.

boolToSign()

constexpr auto okapi::boolToSign ( const bool  b )

constexprnoexcept

Converts a bool to a sign.

Parameters

b

The bool.

Returns

True corresponds to 1 and false corresponds to -1.

Definition at line 198 of file mathUtil.hpp.

cbrt()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_divide< M, std::ratio< 3 > >, std::ratio_divide< L, std::ratio< 3 > >, std::ratio_divide< T, std::ratio< 3 > >, std::ratio_divide< A, std::ratio< 3 > > > okapi::cbrt ( const RQuantity< M, L, T, A > &  rhs )

constexpr

Definition at line 252 of file RQuantity.hpp.

ceil()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::ceil ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 309 of file RQuantity.hpp.

convertHertzToRadPerSec()

static QAngularSpeed okapi::convertHertzToRadPerSec ( QFrequency  in )

static

Definition at line 26 of file QAngularSpeed.hpp.

copysign()

template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >

constexpr RQuantity< M1, L1, T1, A1 > okapi::copysign ( const RQuantity< M1, L1, T1, A1 > &  lhs, const RQuantity< M2, L2, T2, A2 > &  rhs  )

constexpr

Definition at line 303 of file RQuantity.hpp.

cos()

constexpr Number okapi::cos ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 341 of file RQuantity.hpp.

cosh()

constexpr Number okapi::cosh ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 374 of file RQuantity.hpp.

cube()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_multiply< M, std::ratio< 3 > >, std::ratio_multiply< L, std::ratio< 3 > >, std::ratio_multiply< T, std::ratio< 3 > >, std::ratio_multiply< A, std::ratio< 3 > > > okapi::cube ( const RQuantity< M, L, T, A > &  rhs )

constexpr

Definition at line 276 of file RQuantity.hpp.

cutRange()

constexpr double okapi::cutRange ( const double  value, const double  min, const double  max  )

constexpr

Cuts out a range from the number.

The new range of the input number will be (-inf, min]U[max, +inf). If value sits equally between min and max, max will be returned.

Parameters

value	The number to bound.
min	The lower bound of range.
max	The upper bound of range.

Returns

The remapped value.

Definition at line 139 of file mathUtil.hpp.

deadband()

constexpr double okapi::deadband ( const double  value, const double  min, const double  max  )

constexpr

Deadbands a range of the number.

Returns the input value, or 0 if it is in the range [min, max].

Parameters

value	The number to deadband.
min	The lower bound of deadband.
max	The upper bound of deadband.

Returns

The input value or 0 if it is in the range [min, max].

Definition at line 160 of file mathUtil.hpp.

floor()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::floor ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 315 of file RQuantity.hpp.

gearsetToTPR()

constexpr std::int32_t okapi::gearsetToTPR ( const AbstractMotor::gearset  igearset )

constexprnoexcept

Converts a gearset to its TPR.

Parameters

igearset

The gearset.

Returns

The corresponding TPR.

Definition at line 220 of file mathUtil.hpp.

getShortUnitName()

template<class QType >

std::string okapi::getShortUnitName

(

QType

q

)

Returns a short name for a unit.

For example: str(1_ft) will return "ft", so will 1 * foot or 0.3048_m. Throws std::domain_error when q is a unit not defined in this function.

Parameters

q	Your unit. Currently only QLength and QAngle are supported.

Returns

The short string suffix for that unit.

Definition at line 20 of file RQuantityName.hpp.

hypot()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::hypot ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 284 of file RQuantity.hpp.

Hz()

constexpr QFrequency okapi::Hz ( 1.  0 )

constexpr

ipow()

constexpr double okapi::ipow ( const double  base, const int  expo  )

constexpr

Integer power function.

Computes base^expo.

Parameters

base	The base.
expo	The exponent.

Returns

base^expo.

Definition at line 122 of file mathUtil.hpp.

kg()

constexpr QMass okapi::kg ( 1.  0 )

constexpr

meter()

constexpr QLength okapi::meter ( 1.  0 )

constexpr

mod()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::mod ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 290 of file RQuantity.hpp.

modulus()

constexpr long okapi::modulus ( const long  lhs, const long  rhs  )

constexprnoexcept

Computes lhs mod rhs using Euclidean division.

C's % symbol computes the remainder, not modulus.

Parameters

lhs	The left-hand side.
rhs	The right-hand side.

Returns

lhs mod rhs.

Definition at line 210 of file mathUtil.hpp.

number()

constexpr Number okapi::number ( 1.  0 )

constexpr

operator!=()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator!= ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 171 of file RQuantity.hpp.

operator*() [1/4]

AbstractMotor::GearsetRatioPair okapi::operator*	(	AbstractMotor::gearset	gearset,
		double	ratio
	)

operator*() [2/4]

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::operator* ( const double &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 123 of file RQuantity.hpp.

operator*() [3/4]

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::operator* ( const RQuantity< M, L, T, A > &  lhs, const double &  rhs  )

constexpr

Definition at line 127 of file RQuantity.hpp.

operator*() [4/4]

template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >

constexpr RQuantity< std::ratio_add< M1, M2 >, std::ratio_add< L1, L2 >, std::ratio_add< T1, T2 >, std::ratio_add< A1, A2 > > okapi::operator* ( const RQuantity< M1, L1, T1, A1 > &  lhs, const RQuantity< M2, L2, T2, A2 > &  rhs  )

constexpr

Definition at line 116 of file RQuantity.hpp.

operator+()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::operator+ ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 95 of file RQuantity.hpp.

operator-()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::operator- ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 100 of file RQuantity.hpp.

operator/() [1/3]

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_subtract< std::ratio< 0 >, M >, std::ratio_subtract< std::ratio< 0 >, L >, std::ratio_subtract< std::ratio< 0 >, T >, std::ratio_subtract< std::ratio< 0 >, A > > okapi::operator/ ( const double &  x, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 153 of file RQuantity.hpp.

operator/() [2/3]

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::operator/ ( const RQuantity< M, L, T, A > &  rhs, const double &  x  )

constexpr

Definition at line 160 of file RQuantity.hpp.

operator/() [3/3]

template<typename M1 , typename L1 , typename T1 , typename A1 , typename M2 , typename L2 , typename T2 , typename A2 >

constexpr RQuantity< std::ratio_subtract< M1, M2 >, std::ratio_subtract< L1, L2 >, std::ratio_subtract< T1, T2 >, std::ratio_subtract< A1, A2 > > okapi::operator/ ( const RQuantity< M1, L1, T1, A1 > &  lhs, const RQuantity< M2, L2, T2, A2 > &  rhs  )

constexpr

Definition at line 142 of file RQuantity.hpp.

operator<()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator< ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 183 of file RQuantity.hpp.

operator<=()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator<= ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 175 of file RQuantity.hpp.

operator==()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator== ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 167 of file RQuantity.hpp.

operator>()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator> ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 187 of file RQuantity.hpp.

operator>=()

template<typename M , typename L , typename T , typename A >

constexpr bool okapi::operator>= ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 179 of file RQuantity.hpp.

pascal()

constexpr QPressure okapi::pascal ( 1.  0 )

constexpr

pow() [1/2]

template<typename R , typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_multiply< M, R >, std::ratio_multiply< L, R >, std::ratio_multiply< T, R >, std::ratio_multiply< A, R > > okapi::pow ( const RQuantity< M, L, T, A > &  lhs )

constexpr

Definition at line 204 of file RQuantity.hpp.

pow() [2/2]

template<int R, typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_multiply< M, std::ratio< R > >, std::ratio_multiply< L, std::ratio< R > >, std::ratio_multiply< T, std::ratio< R > >, std::ratio_multiply< A, std::ratio< R > > > okapi::pow ( const RQuantity< M, L, T, A > &  lhs )

constexpr

Definition at line 216 of file RQuantity.hpp.

radian()

constexpr QAngle okapi::radian ( 1.  0 )

constexpr

remapRange()

constexpr double okapi::remapRange ( const double  value, const double  oldMin, const double  oldMax, const double  newMin, const double  newMax  )

constexpr

Remap a value in the range [oldMin, oldMax] to the range [newMin, newMax].

Parameters

value	The value in the old range.
oldMin	The old range lower bound.
oldMax	The old range upper bound.
newMin	The new range lower bound.
newMax	The new range upper bound.

Returns

The input value in the new range [newMin, newMax].

Definition at line 174 of file mathUtil.hpp.

root()

template<int R, typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_divide< M, std::ratio< R > >, std::ratio_divide< L, std::ratio< R > >, std::ratio_divide< T, std::ratio< R > >, std::ratio_divide< A, std::ratio< R > > > okapi::root ( const RQuantity< M, L, T, A > &  lhs )

constexpr

Definition at line 228 of file RQuantity.hpp.

round()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::round ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 327 of file RQuantity.hpp.

second()

constexpr QTime okapi::second ( 1.  0 )

constexpr

sin()

constexpr Number okapi::sin ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 336 of file RQuantity.hpp.

sinh()

constexpr Number okapi::sinh ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 369 of file RQuantity.hpp.

sqrt()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_divide< M, std::ratio< 2 > >, std::ratio_divide< L, std::ratio< 2 > >, std::ratio_divide< T, std::ratio< 2 > >, std::ratio_divide< A, std::ratio< 2 > > > okapi::sqrt ( const RQuantity< M, L, T, A > &  rhs )

constexpr

Definition at line 240 of file RQuantity.hpp.

square()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< std::ratio_multiply< M, std::ratio< 2 > >, std::ratio_multiply< L, std::ratio< 2 > >, std::ratio_multiply< T, std::ratio< 2 > >, std::ratio_multiply< A, std::ratio< 2 > > > okapi::square ( const RQuantity< M, L, T, A > &  rhs )

constexpr

Definition at line 264 of file RQuantity.hpp.

tan()

constexpr Number okapi::tan ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 346 of file RQuantity.hpp.

tanh()

constexpr Number okapi::tanh ( const RQuantity< std::ratio< 0 >, std::ratio< 0 >, std::ratio< 0 >, std::ratio< 1 > > &  rhs )

constexpr

Definition at line 379 of file RQuantity.hpp.

toUnderlyingType()

template<typename E >

constexpr auto okapi::toUnderlyingType ( const E  e )

constexprnoexcept

Converts an enum to its value type.

Parameters

e	The enum value.

Returns

The corresponding value.

Definition at line 188 of file mathUtil.hpp.

transformADIPort()

constexpr std::int8_t okapi::transformADIPort ( const std::int8_t  port )

constexpr

Maps ADI port numbers/chars to numbers:

when (port) {
  in ['a', 'h'] -> [1, 8]
  in ['A', 'H'] -> [1, 8]
  else -> [1, 8]
}

Parameters

port	The ADI port number or char.

Returns

An equivalent ADI port number.

Definition at line 246 of file mathUtil.hpp.

trunc()

template<typename M , typename L , typename T , typename A >

constexpr RQuantity< M, L, T, A > okapi::trunc ( const RQuantity< M, L, T, A > &  lhs, const RQuantity< M, L, T, A > &  rhs  )

constexpr

Definition at line 321 of file RQuantity.hpp.

Variable Documentation

adiUpdateRate

constexpr std::int8_t okapi::adiUpdateRate = 10

staticconstexpr

The polling frequency of the ADI ports in milliseconds.

Definition at line 113 of file mathUtil.hpp.

bar

constexpr QPressure okapi::bar = 100000 * pascal

constexpr

Definition at line 21 of file QPressure.hpp.

centimeter

constexpr QLength okapi::centimeter = meter / 100

constexpr

Definition at line 19 of file QLength.hpp.

centimeter2

constexpr QArea okapi::centimeter2 = centimeter * centimeter

constexpr

Definition at line 21 of file QArea.hpp.

centimeter3

constexpr QVolume okapi::centimeter3 = centimeter2 * centimeter

constexpr

Definition at line 22 of file QVolume.hpp.

cps

constexpr QAngularSpeed okapi::cps = (0.01 * degree) / second

constexpr

Definition at line 22 of file QAngularSpeed.hpp.

day

constexpr QTime okapi::day = 24 * hour

constexpr

Definition at line 21 of file QTime.hpp.

decimeter

constexpr QLength okapi::decimeter = meter / 10

constexpr

Definition at line 18 of file QLength.hpp.

decimeter2

constexpr QArea okapi::decimeter2 = decimeter * decimeter

constexpr

Definition at line 20 of file QArea.hpp.

decimeter3

constexpr QVolume okapi::decimeter3 = decimeter2 * decimeter

constexpr

Definition at line 21 of file QVolume.hpp.

defaultLogger

std::shared_ptr<Logger> okapi::defaultLogger

extern

defaultLoggerInitializer

DefaultLoggerInitializer okapi::defaultLoggerInitializer

static

Definition at line 191 of file logging.hpp.

degree

constexpr QAngle okapi::degree = static_cast<double>(2_pi / 360.0) * radian

constexpr

Definition at line 19 of file QAngle.hpp.

degreeToRadian

constexpr double okapi::degreeToRadian = 0.01745329252

staticconstexpr

Converts degrees to radians.

Definition at line 28 of file mathUtil.hpp.

foot

constexpr QLength okapi::foot = 12 * inch

constexpr

Definition at line 23 of file QLength.hpp.

foot2

constexpr QArea okapi::foot2 = foot * foot

constexpr

Definition at line 24 of file QArea.hpp.

foot3

constexpr QVolume okapi::foot3 = foot2 * foot

constexpr

Definition at line 25 of file QVolume.hpp.

footPound

constexpr QTorque okapi::footPound = 1.355817948 * newtonMeter

constexpr

Definition at line 20 of file QTorque.hpp.

G

constexpr QAcceleration okapi::G = 9.80665 * mps2

constexpr

Definition at line 20 of file QAcceleration.hpp.

gramme

constexpr QMass okapi::gramme = 0.001 * kg

constexpr

Definition at line 18 of file QMass.hpp.

gravity

constexpr double okapi::gravity = 9.80665

staticconstexpr

The conventional value of gravity of Earth.

Definition at line 88 of file mathUtil.hpp.

hour

constexpr QTime okapi::hour = 60 * minute

constexpr

Definition at line 20 of file QTime.hpp.

ime269TPR

constexpr double okapi::ime269TPR = 240.448

staticconstexpr

The ticks per rotation of the 269 IME.

Definition at line 53 of file mathUtil.hpp.

imeSpeedTPR

constexpr std::int32_t okapi::imeSpeedTPR = 392

staticconstexpr

The ticks per rotation of the 393 IME with speed gearing.

Definition at line 43 of file mathUtil.hpp.

imeTorqueTPR

constexpr double okapi::imeTorqueTPR = 627.2

staticconstexpr

The ticks per rotation of the 393 IME with torque gearing.

Definition at line 38 of file mathUtil.hpp.

imeTurboTPR

constexpr double okapi::imeTurboTPR = 261.333

staticconstexpr

The ticks per rotation of the 393 IME with turbo gearing.

Definition at line 48 of file mathUtil.hpp.

imev5BlueTPR

constexpr std::int32_t okapi::imev5BlueTPR = 300

staticconstexpr

The ticks per rotation of the V5 motor with a blue gearset.

Definition at line 68 of file mathUtil.hpp.

imev5GreenTPR

constexpr std::int32_t okapi::imev5GreenTPR = 900

staticconstexpr

The ticks per rotation of the V5 motor with a green gearset.

Definition at line 63 of file mathUtil.hpp.

imev5RedTPR

constexpr std::int32_t okapi::imev5RedTPR = 1800

staticconstexpr

The ticks per rotation of the V5 motor with a red gearset.

Definition at line 58 of file mathUtil.hpp.

inch

constexpr QLength okapi::inch = 2.54 * centimeter

constexpr

Definition at line 22 of file QLength.hpp.

inch2

constexpr QArea okapi::inch2 = inch * inch

constexpr

Definition at line 23 of file QArea.hpp.

inch3

constexpr QVolume okapi::inch3 = inch2 * inch

constexpr

Definition at line 24 of file QVolume.hpp.

inchPound

constexpr QTorque okapi::inchPound = 0.083333333 * footPound

constexpr

Definition at line 21 of file QTorque.hpp.

inchToMM

constexpr double okapi::inchToMM = 25.4

staticconstexpr

Converts inches to millimeters.

Definition at line 18 of file mathUtil.hpp.

kilometer

constexpr QLength okapi::kilometer = 1000 * meter

constexpr

Definition at line 21 of file QLength.hpp.

kilometer2

constexpr QArea okapi::kilometer2 = kilometer * kilometer

constexpr

Definition at line 18 of file QArea.hpp.

kilometer3

constexpr QVolume okapi::kilometer3 = kilometer2 * kilometer

constexpr

Definition at line 19 of file QVolume.hpp.

kilopond

constexpr QForce okapi::kilopond = kg * G

constexpr

Definition at line 21 of file QForce.hpp.

kmph

constexpr QSpeed okapi::kmph = kilometer / hour

constexpr

Definition at line 21 of file QSpeed.hpp.

litre

constexpr QVolume okapi::litre = decimeter3

constexpr

Definition at line 27 of file QVolume.hpp.

meter2

constexpr QArea okapi::meter2 = meter * meter

constexpr

Definition at line 19 of file QArea.hpp.

meter3

constexpr QVolume okapi::meter3 = meter2 * meter

constexpr

Definition at line 20 of file QVolume.hpp.

mile

constexpr QLength okapi::mile = 5280 * foot

constexpr

Definition at line 25 of file QLength.hpp.

mile2

constexpr QArea okapi::mile2 = mile * mile

constexpr

Definition at line 25 of file QArea.hpp.

mile3

constexpr QVolume okapi::mile3 = mile2 * mile

constexpr

Definition at line 26 of file QVolume.hpp.

millimeter

constexpr QLength okapi::millimeter = meter / 1000

constexpr

Definition at line 20 of file QLength.hpp.

millimeter2

constexpr QArea okapi::millimeter2 = millimeter * millimeter

constexpr

Definition at line 22 of file QArea.hpp.

millimeter3

constexpr QVolume okapi::millimeter3 = millimeter2 * millimeter

constexpr

Definition at line 23 of file QVolume.hpp.

millisecond

constexpr QTime okapi::millisecond = second / 1000

constexpr

Definition at line 18 of file QTime.hpp.

minute

constexpr QTime okapi::minute = 60 * second

constexpr

Definition at line 19 of file QTime.hpp.

miph

constexpr QSpeed okapi::miph = mile / hour

constexpr

Definition at line 20 of file QSpeed.hpp.

mmToInch

constexpr double okapi::mmToInch = 0.0393700787

staticconstexpr

Converts millimeters to inches.

Definition at line 23 of file mathUtil.hpp.

motorUpdateRate

constexpr std::int8_t okapi::motorUpdateRate = 10

staticconstexpr

The polling frequency of V5 motors in milliseconds.

Definition at line 108 of file mathUtil.hpp.

mps

constexpr QSpeed okapi::mps = meter / second

constexpr

Definition at line 19 of file QSpeed.hpp.

mps2

constexpr QAcceleration okapi::mps2 = meter / (second * second)

constexpr

Definition at line 19 of file QAcceleration.hpp.

newton

constexpr QForce okapi::newton = (kg * meter) / (second * second)

constexpr

Definition at line 19 of file QForce.hpp.

newtonMeter

constexpr QTorque okapi::newtonMeter = newton * meter

constexpr

Definition at line 19 of file QTorque.hpp.

OKAPI_PROS_ERR

constexpr auto okapi::OKAPI_PROS_ERR = INT32_MAX

staticconstexpr

Same as PROS_ERR.

Definition at line 93 of file mathUtil.hpp.

OKAPI_PROS_ERR_F

constexpr auto okapi::OKAPI_PROS_ERR_F = INFINITY

staticconstexpr

Same as PROS_ERR_F.

Definition at line 98 of file mathUtil.hpp.

ounce

constexpr QMass okapi::ounce = 0.028349523125 * kg

constexpr

Definition at line 20 of file QMass.hpp.

pi

constexpr double okapi::pi = 3.1415926535897932

staticconstexpr

The value of pi.

Definition at line 78 of file mathUtil.hpp.

pi2

constexpr double okapi::pi2 = 1.5707963267948966

staticconstexpr

The value of pi divided by 2.

Definition at line 83 of file mathUtil.hpp.

pound

constexpr QMass okapi::pound = 16 * ounce

constexpr

Definition at line 21 of file QMass.hpp.

poundforce

constexpr QForce okapi::poundforce = pound * G

constexpr

Definition at line 20 of file QForce.hpp.

psi

constexpr QPressure okapi::psi = pound * G / inch2

constexpr

Definition at line 22 of file QPressure.hpp.

quadEncoderTPR

constexpr std::int32_t okapi::quadEncoderTPR = 360

staticconstexpr

The ticks per rotation of the red quadrature encoders.

Definition at line 73 of file mathUtil.hpp.

radianToDegree

constexpr double okapi::radianToDegree = 57.2957795

staticconstexpr

Converts radians to degrees.

Definition at line 33 of file mathUtil.hpp.

radps

constexpr QAngularSpeed okapi::radps = radian / second

constexpr

Definition at line 20 of file QAngularSpeed.hpp.

rpm

constexpr QAngularSpeed okapi::rpm = (360 * degree) / minute

constexpr

Definition at line 21 of file QAngularSpeed.hpp.

stone

constexpr QMass okapi::stone = 14 * pound

constexpr

Definition at line 22 of file QMass.hpp.

tile

constexpr QLength okapi::tile = 24 * inch

constexpr

Definition at line 26 of file QLength.hpp.

tonne

constexpr QMass okapi::tonne = 1000 * kg

constexpr

Definition at line 19 of file QMass.hpp.

v5MotorMaxVoltage

constexpr double okapi::v5MotorMaxVoltage = 12000

staticconstexpr

The maximum voltage that can be sent to V5 motors.

Definition at line 103 of file mathUtil.hpp.

yard

constexpr QLength okapi::yard = 3 * foot

constexpr

Definition at line 24 of file QLength.hpp.