JDrivetrain Class Reference

defines interface for controlling any ground-based drivetrain More...

#include <JDrivetrain.h>

Inheritance diagram for JDrivetrain:

Collaboration diagram for JDrivetrain:

Public Member Functions
virtual JTwoDTransform	getVel (bool _run=false)
virtual JTwoDTransform	getDist (bool _run=false)
virtual void	setDistSetpoint (JTwoDTransform _dist, bool _run=false)
virtual void	setDistDelta (JTwoDTransform _dist, bool _run=false)
virtual void	resetDist ()
virtual void	setMotorVel (float vel, unsigned char i, bool _run=false)
virtual void	setMotorDistSetpoint (float distSetpoint, unsigned char i, bool _run=false)
virtual void	setMotorDistDelta (float distDelta, unsigned char i, bool _run=false)
virtual float	getMotorVel (unsigned char i)
virtual unsigned char	getNumberMotors ()
Public Member Functions inherited from JDrivetrainBasic
virtual void	run ()=0
	call this in loop. it calls any encoder or motor update functions
virtual bool	setEnable (bool _enable)=0
	enables or disables movement
virtual bool	enable ()=0
	enables movement
virtual bool	disable ()=0
	disables movement
virtual bool	getEnable ()=0
	gets the current state (enabled or disabled)
virtual void	setVel (JTwoDTransform _vel, bool _run=false)=0
	sets a velocity for the drivetrain to move at
virtual JTwoDTransform	getMaxVel ()=0
	returns the approximate maximum velocity of the drivetrain, if the drivetrain is told to move at max velocity, it should set the motors to full power.

Detailed Description

defines interface for controlling any ground-based drivetrain

Member Function Documentation

getDist()

virtual JTwoDTransform JDrivetrain::getDist ( bool  _run = false )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

getMotorVel()

virtual float JDrivetrain::getMotorVel ( unsigned char  i )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

getNumberMotors()

virtual unsigned char JDrivetrain::getNumberMotors ( )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

getVel()

virtual JTwoDTransform JDrivetrain::getVel ( bool  _run = false )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

resetDist()

virtual void JDrivetrain::resetDist ( )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setDistDelta()

virtual void JDrivetrain::setDistDelta ( JTwoDTransform  _dist, bool  _run = false  )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setDistSetpoint()

virtual void JDrivetrain::setDistSetpoint ( JTwoDTransform  _dist, bool  _run = false  )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setMotorDistDelta()

virtual void JDrivetrain::setMotorDistDelta ( float  distDelta, unsigned char  i, bool  _run = false  )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setMotorDistSetpoint()

virtual void JDrivetrain::setMotorDistSetpoint ( float  distSetpoint, unsigned char  i, bool  _run = false  )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setMotorVel()

virtual void JDrivetrain::setMotorVel ( float  vel, unsigned char  i, bool  _run = false  )

virtual

Reimplemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

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

• src/JDrivetrain/JDrivetrain.h