JDrivetrainBasic Class Reference

interface for a drivetrain with only simple velocity control More...

#include <JDrivetrainBasic.h>

Inheritance diagram for JDrivetrainBasic:

Public Member Functions
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

interface for a drivetrain with only simple velocity control

Member Function Documentation

disable()

virtual bool JDrivetrainBasic::disable ( )

pure virtual

disables movement

Return values

did	the state change

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainSwerve< N >, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

enable()

virtual bool JDrivetrainBasic::enable ( )

pure virtual

enables movement

Return values

did	the state change

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainSwerve< N >, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

getEnable()

virtual bool JDrivetrainBasic::getEnable ( )

pure virtual

gets the current state (enabled or disabled)

Return values

(bool)

true=enabled false=movement disabled

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainSwerve< N >, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

getMaxVel()

virtual JTwoDTransform JDrivetrainBasic::getMaxVel ( )

pure virtual

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.

Note

depends on how well calibrated the motor compensators are

Return values

(JTwoDTransform)

maximum velocity (in whatever units your drivetrain and motors are set up for)

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

run()

virtual void JDrivetrainBasic::run ( )

pure virtual

call this in loop. it calls any encoder or motor update functions

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainSwerve< N >, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setEnable()

virtual bool JDrivetrainBasic::setEnable ( bool  _enable )

pure virtual

enables or disables movement

Parameters

_enable

(bool) true=enabled false=movement disabled

Return values

did	the state change

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainSwerve< N >, JDrivetrainTwoSide, and JDrivetrainControllerBasic.

setVel()

virtual void JDrivetrainBasic::setVel ( JTwoDTransform  _vel, bool  _run = false  )

pure virtual

sets a velocity for the drivetrain to move at

Parameters

_vel	(JTwoDTransform) velocity to move at
_run	(bool, default=true) if true setVel will call run() for you, if false you must call it yourself

Return values

None

Implemented in JDrivetrainFieldOriented, JDrivetrainMecanum, JDrivetrainTwoSide, JDrivetrainControllerBasic, and JDrivetrainSwerve< N >.

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

• src/JDrivetrain/JDrivetrainBasic.h