JDrivetrainSwerve< N > Class Template Reference

number of swerve modules More...

#include <JDrivetrainSwerve.h>

Inheritance diagram for JDrivetrainSwerve< N >:

Collaboration diagram for JDrivetrainSwerve< N >:

Public Member Functions
	JDrivetrainSwerve (JSwerveModule *_swerveModule[N], float _modPosForwards[N], float _modPosLeft[N], float _centerL=0, float _centerF=0)
void	setCenter (float forwards, float left)
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=true)
	sets a velocity for the drivetrain to move at
Public Member Functions inherited from JDrivetrainBasic
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.

Static Public Member Functions
static float	calcClosestAngle (float target, float theta)

Public Attributes
JSwerveModule *	swerveModule [N]
float	modPosL [N]
float	modPosF [N]
float	targetTheta [N]
float	targetSpeed [N]
float	deadzone = 0.0001
float	centerL = 0
float	centerF = 0

Detailed Description

template<byte N>
class JDrivetrainSwerve< N >

number of swerve modules

swerve drivetrain.

Note

not actually a subclass of JDrivetrain, since currently only velocity control is implemented The code for calculating speed and angles for each wheel is in this file.

Constructor & Destructor Documentation

JDrivetrainSwerve()

template<byte N>

JDrivetrainSwerve< N >::JDrivetrainSwerve ( JSwerveModule *  _swerveModule[N], float  _modPosForwards[N], float  _modPosLeft[N], float  _centerL = 0, float  _centerF = 0  )

inline

Note

Parameters

_swerveModule[N]	array of pointers to swerveModules. Sorry, couldn't figure out how to hide the pointers from you. example: pass swerveModules to constructor: JSwerveModule* swerveModules[3] = { &swerveModule1, &swerveModule2, &swerveModule3 }; where swerveModuleN is a subclass of JSwerveModule
_modPosForwards[N]
_modPosLeft[N]
_centerL
_centerF

Return values

Member Function Documentation

calcClosestAngle()

template<byte N>

static float JDrivetrainSwerve< N >::calcClosestAngle ( float  target, float  theta  )

inlinestatic

disable()

template<byte N>

bool JDrivetrainSwerve< N >::disable ( )

inlinevirtual

disables movement

Return values

did	the state change

Implements JDrivetrainBasic.

enable()

template<byte N>

bool JDrivetrainSwerve< N >::enable ( )

inlinevirtual

enables movement

Return values

did	the state change

Implements JDrivetrainBasic.

getEnable()

template<byte N>

bool JDrivetrainSwerve< N >::getEnable ( )

inlinevirtual

gets the current state (enabled or disabled)

Return values

(bool)

true=enabled false=movement disabled

Implements JDrivetrainBasic.

run()

template<byte N>

void JDrivetrainSwerve< N >::run ( )

inlinevirtual

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

Implements JDrivetrainBasic.

setCenter()

template<byte N>

void JDrivetrainSwerve< N >::setCenter ( float  forwards, float  left  )

inline

setEnable()

template<byte N>

bool JDrivetrainSwerve< N >::setEnable ( bool  _enable )

inlinevirtual

enables or disables movement

Parameters

_enable

(bool) true=enabled false=movement disabled

Return values

did	the state change

Implements JDrivetrainBasic.

setVel()

template<byte N>

void JDrivetrainSwerve< N >::setVel ( JTwoDTransform  _vel, bool  _run = true  )

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

centerF

template<byte N>

float JDrivetrainSwerve< N >::centerF = 0

centerL

template<byte N>

float JDrivetrainSwerve< N >::centerL = 0

deadzone

template<byte N>

float JDrivetrainSwerve< N >::deadzone = 0.0001

modPosF

template<byte N>

float JDrivetrainSwerve< N >::modPosF[N]

modPosL

template<byte N>

float JDrivetrainSwerve< N >::modPosL[N]

swerveModule

template<byte N>

JSwerveModule* JDrivetrainSwerve< N >::swerveModule[N]

targetSpeed

template<byte N>

float JDrivetrainSwerve< N >::targetSpeed[N]

targetTheta

template<byte N>

float JDrivetrainSwerve< N >::targetTheta[N]

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

• src/JDrivetrain/JDrivetrainSwerve.h