JDrivetrainFieldOriented Class Reference

interface for a drivetrain that makes it into field oriented More...

#include <JDrivetrainFieldOriented.h>

Inheritance diagram for JDrivetrainFieldOriented:

Collaboration diagram for JDrivetrainFieldOriented:

Public Member Functions
	JDrivetrainFieldOriented (JDrivetrain &_drivetrain)
float	getHeading ()
void	giveHeading (float _heading)
void	run ()
	call this in loop. it calls any encoder or motor update functions
bool	setEnable (bool _enable)
	enables or disables movement
bool	enable ()
	enables movement
bool	disable ()
	disables movement
bool	getEnable ()
	gets the current state (enabled or disabled)
void	setVel (JTwoDTransform _vel, bool _run=false)
	sets a velocity for the drivetrain to move at
JTwoDTransform	getMaxVel ()
	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.
JTwoDTransform	getVel (bool _run=false)
JTwoDTransform	getDist (bool _run=false)
void	setDistSetpoint (JTwoDTransform _dist, bool _run=false)
void	setDistDelta (JTwoDTransform _dist, bool _run=false)
void	resetDist ()
void	setMotorVel (float vel, unsigned char i, bool _run=false)
float	getMotorVel (unsigned char i)
void	setMotorDistSetpoint (float distSetpoint, unsigned char i, bool _run=false)
void	setMotorDistDelta (float distDelta, unsigned char i, bool _run=false)
unsigned char	getNumberMotors ()

Protected Attributes
JDrivetrain &	drivetrain
float	imuHeading = 0
float	imuHeadingOffset = 0
float	lastImuHeading = 0
float	theta = 0
int	fullRotations = 0
JTwoDTransform	dist = { 0, 0, 0 }
JTwoDTransform	lastDrivetrainDist = { 0, 0, 0 }

Detailed Description

interface for a drivetrain that makes it into field oriented

/ TODO: NOT DONE YET* //TODO: COMMENT

Note

only makes sense for drivetrains that can move in any direction

Constructor & Destructor Documentation

JDrivetrainFieldOriented()

JDrivetrainFieldOriented::JDrivetrainFieldOriented ( JDrivetrain &  _drivetrain )

inline

Member Function Documentation

disable()

bool JDrivetrainFieldOriented::disable ( )

inlinevirtual

disables movement

Return values

did	the state change

Implements JDrivetrainBasic.

enable()

bool JDrivetrainFieldOriented::enable ( )

inlinevirtual

enables movement

Return values

did	the state change

Implements JDrivetrainBasic.

getDist()

JTwoDTransform JDrivetrainFieldOriented::getDist ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

getEnable()

bool JDrivetrainFieldOriented::getEnable ( )

inlinevirtual

gets the current state (enabled or disabled)

Return values

(bool)

true=enabled false=movement disabled

Implements JDrivetrainBasic.

getHeading()

float JDrivetrainFieldOriented::getHeading ( )

inline

getMaxVel()

JTwoDTransform JDrivetrainFieldOriented::getMaxVel ( )

inlinevirtual

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)

Implements JDrivetrainBasic.

getMotorVel()

float JDrivetrainFieldOriented::getMotorVel ( unsigned char  i )

inlinevirtual

Reimplemented from JDrivetrain.

getNumberMotors()

unsigned char JDrivetrainFieldOriented::getNumberMotors ( )

inlinevirtual

Reimplemented from JDrivetrain.

getVel()

JTwoDTransform JDrivetrainFieldOriented::getVel ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

giveHeading()

void JDrivetrainFieldOriented::giveHeading ( float  _heading )

inline

resetDist()

void JDrivetrainFieldOriented::resetDist ( )

inlinevirtual

Reimplemented from JDrivetrain.

run()

void JDrivetrainFieldOriented::run ( )

inlinevirtual

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

Implements JDrivetrainBasic.

setDistDelta()

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

inlinevirtual

Reimplemented from JDrivetrain.

setDistSetpoint()

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

inlinevirtual

Note

don't set a dist setpoint far from the current distance

Parameters

_dist
_run

Return values

None

Reimplemented from JDrivetrain.

setEnable()

bool JDrivetrainFieldOriented::setEnable ( bool  _enable )

inlinevirtual

enables or disables movement

Parameters

_enable

(bool) true=enabled false=movement disabled

Return values

did	the state change

Implements JDrivetrainBasic.

setMotorDistDelta()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorDistSetpoint()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorVel()

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

inlinevirtual

Reimplemented from JDrivetrain.

setVel()

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

inlinevirtual

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

Implements JDrivetrainBasic.

Member Data Documentation

dist

JTwoDTransform JDrivetrainFieldOriented::dist = { 0, 0, 0 }

protected

drivetrain

JDrivetrain& JDrivetrainFieldOriented::drivetrain

protected

fullRotations

int JDrivetrainFieldOriented::fullRotations = 0

protected

imuHeading

float JDrivetrainFieldOriented::imuHeading = 0

protected

imuHeadingOffset

float JDrivetrainFieldOriented::imuHeadingOffset = 0

protected

lastDrivetrainDist

JTwoDTransform JDrivetrainFieldOriented::lastDrivetrainDist = { 0, 0, 0 }

protected

lastImuHeading

float JDrivetrainFieldOriented::lastImuHeading = 0

protected

theta

float JDrivetrainFieldOriented::theta = 0

protected

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

• src/JDrivetrain/JDrivetrainFieldOriented.h