JDrivetrainMecanum Class Reference

Drivetrain that controls a mecanum wheeled robot. More...

#include <JDrivetrainMecanum.h>

Inheritance diagram for JDrivetrainMecanum:

Collaboration diagram for JDrivetrainMecanum:

Classes
struct	MotorFloats
struct	Motors

Public Member Functions
	JDrivetrainMecanum (JMotorController &_FRmotor, JMotorController &_FLmotor, JMotorController &_BLmotor, JMotorController &_BRmotor, JTwoDTransform _robotToWheelScalar)
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)
JTwoDTransform	getVel (bool _run=false)
JTwoDTransform	getDist (bool _run=false)
void	setVel (JTwoDTransform _vel, bool _run=false)
	sets a velocity for the drivetrain to move at
void	setDistSetpoint (JTwoDTransform _dist, bool _run=false)
void	setDistDelta (JTwoDTransform _dist, bool _run=false)
void	resetDist ()
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.
float	getMotorVel (unsigned char i)
void	setMotorVel (float vel, unsigned char i, bool _run=false)
void	setMotorDistSetpoint (float distSetpoint, unsigned char i, bool _run=false)
void	setMotorDistDelta (float distDelta, unsigned char i, bool _run=false)
unsigned char	getNumberMotors ()
JTwoDTransform	getRobotToWheelScalar ()
void	setRobotToWheelScalar (JTwoDTransform scalar)

Public Attributes
struct JDrivetrainMecanum::Motors	motors

Protected Member Functions
void	toWheels (JTwoDTransform t, MotorFloats &m)
void	toTransform (MotorFloats m, JTwoDTransform &w)

Protected Attributes
JTwoDTransform	robotToWheelScalar

Detailed Description

Drivetrain that controls a mecanum wheeled robot.

Constructor & Destructor Documentation

JDrivetrainMecanum()

JDrivetrainMecanum::JDrivetrainMecanum ( JMotorController &  _FRmotor, JMotorController &  _FLmotor, JMotorController &  _BLmotor, JMotorController &  _BRmotor, JTwoDTransform  _robotToWheelScalar  )

inline

Member Function Documentation

disable()

bool JDrivetrainMecanum::disable ( )

inlinevirtual

disables movement

Return values

did	the state change

Implements JDrivetrainBasic.

enable()

bool JDrivetrainMecanum::enable ( )

inlinevirtual

enables movement

Return values

did	the state change

Implements JDrivetrainBasic.

getDist()

JTwoDTransform JDrivetrainMecanum::getDist ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

getEnable()

bool JDrivetrainMecanum::getEnable ( )

inlinevirtual

gets the current state (enabled or disabled)

Return values

(bool)

true=enabled false=movement disabled

Implements JDrivetrainBasic.

getMaxVel()

JTwoDTransform JDrivetrainMecanum::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 JDrivetrainMecanum::getMotorVel ( unsigned char  i )

inlinevirtual

Reimplemented from JDrivetrain.

getNumberMotors()

unsigned char JDrivetrainMecanum::getNumberMotors ( )

inlinevirtual

Reimplemented from JDrivetrain.

getRobotToWheelScalar()

JTwoDTransform JDrivetrainMecanum::getRobotToWheelScalar ( )

inline

getVel()

JTwoDTransform JDrivetrainMecanum::getVel ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

resetDist()

void JDrivetrainMecanum::resetDist ( )

inlinevirtual

Reimplemented from JDrivetrain.

run()

void JDrivetrainMecanum::run ( )

inlinevirtual

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

Implements JDrivetrainBasic.

setDistDelta()

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

inlinevirtual

Reimplemented from JDrivetrain.

setDistSetpoint()

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

inlinevirtual

Reimplemented from JDrivetrain.

setEnable()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorDistSetpoint()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorVel()

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

inlinevirtual

Reimplemented from JDrivetrain.

setRobotToWheelScalar()

void JDrivetrainMecanum::setRobotToWheelScalar ( JTwoDTransform  scalar )

inline

setVel()

void JDrivetrainMecanum::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.

toTransform()

void JDrivetrainMecanum::toTransform ( MotorFloats  m, JTwoDTransform &  w  )

inlineprotected

toWheels()

void JDrivetrainMecanum::toWheels ( JTwoDTransform  t, MotorFloats &  m  )

inlineprotected

Member Data Documentation

motors

struct JDrivetrainMecanum::Motors JDrivetrainMecanum::motors

robotToWheelScalar

JTwoDTransform JDrivetrainMecanum::robotToWheelScalar

protected

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

• src/JDrivetrain/JDrivetrainMecanum.h