xDriveModel.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "okapi/api/chassis/model/chassisModel.hpp"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
#include "okapi/api/units/QAngle.hpp"
 
namespace okapi {
class XDriveModel : public ChassisModel {
  public:
  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);
 
  void forward(double ipower) override;
 
  void driveVector(double iforwardSpeed, double iyaw) override;
 
  void driveVectorVoltage(double iforwardSpeed, double iyaw) override;
 
  void rotate(double ipower) override;
 
  void strafe(double ipower);
 
  void strafeVector(double istrafeSpeed, double iyaw);
 
  void stop() override;
 
  void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) override;
 
  void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) override;
 
  void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) override;
 
  virtual void
  xArcade(double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold = 0);
 
  virtual void fieldOrientedXArcade(double ixSpeed,
                                    double iySpeed,
                                    double iyaw,
                                    QAngle iangle,
                                    double ithreshold = 0);
 
  void left(double ispeed) override;
 
  void right(double ispeed) override;
 
  std::valarray<std::int32_t> getSensorVals() const override;
 
  void resetSensors() override;
 
  void setBrakeMode(AbstractMotor::brakeMode mode) override;
 
  void setEncoderUnits(AbstractMotor::encoderUnits units) override;
 
  void setGearing(AbstractMotor::gearset gearset) override;
 
  void setMaxVelocity(double imaxVelocity) override;
 
  double getMaxVelocity() const override;
 
  void setMaxVoltage(double imaxVoltage) override;
 
  double getMaxVoltage() const override;
 
  std::shared_ptr<AbstractMotor> getTopLeftMotor() const;
 
  std::shared_ptr<AbstractMotor> getTopRightMotor() const;
 
  std::shared_ptr<AbstractMotor> getBottomRightMotor() const;
 
  std::shared_ptr<AbstractMotor> getBottomLeftMotor() const;
 
  protected:
  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;
};
} // namespace okapi