JSwerveModuleDifferential Class Reference

#include <JSwerveModuleDifferential.h>

Inheritance diagram for JSwerveModuleDifferential:

Collaboration diagram for JSwerveModuleDifferential:

Public Member Functions
	JSwerveModuleDifferential (JMotorControllerBasic &_m1, JMotorControllerBasic &_m2, JEncoder &_angleEncoder, JSwerveAngleControlLoop &_angleControlLoop, float _driveRatio, float _steeringRatio, float _angleOffset=0)
void	set (float _speed, float _angle, bool _run=true)
	set speed and angle setpoints for wheel
float	getAngle ()
	get angle measurement from wheel
long	zeroTurnCounter ()
	zeros the encoder's counter of full turns, leaving only the fractional turn
bool	setEnable (bool _enable)
	set enable state of swerve module motors
bool	getEnable ()
	get enable state of module
float	getMaxSpeed ()
	maximum drive speed
void	run ()
	call this in loop() so that the swerve module can update its motors and angle control loop
Public Member Functions inherited from JSwerveModule
bool	enable ()
	enable motor
bool	disable ()
	disable motor

Public Attributes
JMotorControllerBasic &	m1
JMotorControllerBasic &	m2
JEncoder &	angleEncoder
JSwerveAngleControlLoop &	angleControlLoop
float	driveRatio = 1
float	steeringRatio = 1
float	angleOffset = 0
float	speedSetpoint = 0
float	angleSetpoint = 0

Constructor & Destructor Documentation

JSwerveModuleDifferential()

JSwerveModuleDifferential::JSwerveModuleDifferential ( JMotorControllerBasic &  _m1, JMotorControllerBasic &  _m2, JEncoder &  _angleEncoder, JSwerveAngleControlLoop &  _angleControlLoop, float  _driveRatio, float  _steeringRatio, float  _angleOffset = 0  )

inline

Parameters

_m1	positive speed drives forward and steers CCW if viewed from above, just swap which motor is m1 and m2 or reverse a motor if this is not the case
_m2	positive speed drives forward and steers CW if viewed from above, just swap which motor is m1 and m2 or reverse a motor if this is not the case
_angleEncoder	JEncoder, should be absolute encoder, from 0-360 degrees for a revolution
_angleControlLoop	JSwerveAngleControlLoop object
_driveRatio	motor revolutions per drive distance unit
_steeringRatio	motor revolutions per steering revolution
_angleOffset	degrees, default=0 added to encoder reading, adjust until angle is zero when wheel is straight forwards

Member Function Documentation

getAngle()

float JSwerveModuleDifferential::getAngle ( )

inlinevirtual

get angle measurement from wheel

Return values

(float)

angle in degrees

Reimplemented from JSwerveModule.

getEnable()

bool JSwerveModuleDifferential::getEnable ( )

inlinevirtual

get enable state of module

Return values

(bool)

true = motors enabled, false = motors disabled

Reimplemented from JSwerveModule.

getMaxSpeed()

float JSwerveModuleDifferential::getMaxSpeed ( )

inlinevirtual

maximum drive speed

Reimplemented from JSwerveModule.

run()

void JSwerveModuleDifferential::run ( )

inlinevirtual

call this in loop() so that the swerve module can update its motors and angle control loop

Reimplemented from JSwerveModule.

set()

void JSwerveModuleDifferential::set ( float  _speed, float  _angle, bool  _run = true  )

inlinevirtual

set speed and angle setpoints for wheel

Parameters

speed	(float) speed for wheel
angle	(float) angle in degrees
run	(bool) default:true, true = call run() in this function, false = you'll call run() yourself

Return values

None

Reimplemented from JSwerveModule.

setEnable()

bool JSwerveModuleDifferential::setEnable ( bool  _enable )

inlinevirtual

set enable state of swerve module motors

Parameters

_enable

(bool) true = enable module, false = disable module

Return values

(bool)

true if state changed, false if state already set

Reimplemented from JSwerveModule.

zeroTurnCounter()

long JSwerveModuleDifferential::zeroTurnCounter ( )

inlinevirtual

zeros the encoder's counter of full turns, leaving only the fractional turn

Return values

(long)

previous turn counter value

Reimplemented from JSwerveModule.

Member Data Documentation

angleControlLoop

JSwerveAngleControlLoop& JSwerveModuleDifferential::angleControlLoop

angleEncoder

JEncoder& JSwerveModuleDifferential::angleEncoder

angleOffset

float JSwerveModuleDifferential::angleOffset = 0

angleSetpoint

float JSwerveModuleDifferential::angleSetpoint = 0

driveRatio

float JSwerveModuleDifferential::driveRatio = 1

m1

JMotorControllerBasic& JSwerveModuleDifferential::m1

m2

JMotorControllerBasic& JSwerveModuleDifferential::m2

speedSetpoint

float JSwerveModuleDifferential::speedSetpoint = 0

steeringRatio

float JSwerveModuleDifferential::steeringRatio = 1

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

• src/JSwerve/JSwerveModuleDifferential.h