JDrivetrainTwoSide Class Reference

child class of JDrivetrain for controlling a drivetrain with one JMotorController for each side of the drivetrain More...

#include <JDrivetrainTwoSide.h>

Inheritance diagram for JDrivetrainTwoSide:

Collaboration diagram for JDrivetrainTwoSide:

Public Member Functions
	JDrivetrainTwoSide (JMotorController &_left, JMotorController &_right, float _width)
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 ()
float	getWidth ()
void	setWidth (float _width)

Public Attributes
JMotorController &	left
JMotorController &	right

Protected Attributes
float	width
float	leftVel
float	rightVel
float	leftDist
float	rightDist
JTwoDTransform	vel
JTwoDTransform	dist
JTwoDTransform	maxVel

Detailed Description

child class of JDrivetrain for controlling a drivetrain with one JMotorController for each side of the drivetrain

Note

both sides should move forward when the controllers are given a positive speed

Constructor & Destructor Documentation

JDrivetrainTwoSide()

JDrivetrainTwoSide::JDrivetrainTwoSide ( JMotorController &  _left, JMotorController &  _right, float  _width  )

inline

Member Function Documentation

disable()

bool JDrivetrainTwoSide::disable ( )

inlinevirtual

disables movement

Return values

did	the state change

Implements JDrivetrainBasic.

enable()

bool JDrivetrainTwoSide::enable ( )

inlinevirtual

enables movement

Return values

did	the state change

Implements JDrivetrainBasic.

getDist()

JTwoDTransform JDrivetrainTwoSide::getDist ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

getEnable()

bool JDrivetrainTwoSide::getEnable ( )

inlinevirtual

gets the current state (enabled or disabled)

Return values

(bool)

true=enabled false=movement disabled

Implements JDrivetrainBasic.

getMaxVel()

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

inlinevirtual

Reimplemented from JDrivetrain.

getNumberMotors()

unsigned char JDrivetrainTwoSide::getNumberMotors ( )

inlinevirtual

Reimplemented from JDrivetrain.

getVel()

JTwoDTransform JDrivetrainTwoSide::getVel ( bool  _run = false )

inlinevirtual

Reimplemented from JDrivetrain.

getWidth()

float JDrivetrainTwoSide::getWidth ( )

inline

resetDist()

void JDrivetrainTwoSide::resetDist ( )

inlinevirtual

Reimplemented from JDrivetrain.

run()

void JDrivetrainTwoSide::run ( )

inlinevirtual

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

Implements JDrivetrainBasic.

setDistDelta()

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

inlinevirtual

Reimplemented from JDrivetrain.

setDistSetpoint()

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

inlinevirtual

Reimplemented from JDrivetrain.

setEnable()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorDistSetpoint()

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

inlinevirtual

Reimplemented from JDrivetrain.

setMotorVel()

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

inlinevirtual

Reimplemented from JDrivetrain.

setVel()

void JDrivetrainTwoSide::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.

setWidth()

void JDrivetrainTwoSide::setWidth ( float  _width )

inline

Member Data Documentation

dist

JTwoDTransform JDrivetrainTwoSide::dist

protected

left

JMotorController& JDrivetrainTwoSide::left

leftDist

float JDrivetrainTwoSide::leftDist

protected

leftVel

float JDrivetrainTwoSide::leftVel

protected

maxVel

JTwoDTransform JDrivetrainTwoSide::maxVel

protected

right

JMotorController& JDrivetrainTwoSide::right

rightDist

float JDrivetrainTwoSide::rightDist

protected

rightVel

float JDrivetrainTwoSide::rightVel

protected

vel

JTwoDTransform JDrivetrainTwoSide::vel

protected

width

float JDrivetrainTwoSide::width

protected

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

• src/JDrivetrain/JDrivetrainTwoSide.h