Class KilloughDrive

  • All Implemented Interfaces:
    Sendable, AutoCloseable

    public class KilloughDrive
    extends RobotDriveBase
    A class for driving Killough drive platforms.

    Killough drives are triangular with one omni wheel on each corner.

    Drive base diagram:

      /_____\
     / \   / \
        \ /
        ---
     

    Each drive() function provides different inverse kinematic relations for a Killough drive. The default wheel vectors are parallel to their respective opposite sides, but can be overridden. See the constructor for more information.

    This library uses the NED axes convention (North-East-Down as external reference in the world frame): http://www.nuclearprojects.com/ins/images/axis_big.png.

    The positive X axis points ahead, the positive Y axis points right, and the positive Z axis points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is positive.

    • Constructor Detail

      • KilloughDrive

        public KilloughDrive​(SpeedController leftMotor,
                             SpeedController rightMotor,
                             SpeedController backMotor)
        Construct a Killough drive with the given motors and default motor angles.

        The default motor angles make the wheels on each corner parallel to their respective opposite sides.

        If a motor needs to be inverted, do so before passing it in.

        Parameters:
        leftMotor - The motor on the left corner.
        rightMotor - The motor on the right corner.
        backMotor - The motor on the back corner.
      • KilloughDrive

        public KilloughDrive​(SpeedController leftMotor,
                             SpeedController rightMotor,
                             SpeedController backMotor,
                             double leftMotorAngle,
                             double rightMotorAngle,
                             double backMotorAngle)
        Construct a Killough drive with the given motors.

        Angles are measured in degrees clockwise from the positive X axis.

        Parameters:
        leftMotor - The motor on the left corner.
        rightMotor - The motor on the right corner.
        backMotor - The motor on the back corner.
        leftMotorAngle - The angle of the left wheel's forward direction of travel.
        rightMotorAngle - The angle of the right wheel's forward direction of travel.
        backMotorAngle - The angle of the back wheel's forward direction of travel.
    • Method Detail

      • driveCartesian

        public void driveCartesian​(double ySpeed,
                                   double xSpeed,
                                   double zRotation)
        Drive method for Killough platform.

        Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.

        Parameters:
        ySpeed - The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
        xSpeed - The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
        zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
      • driveCartesian

        public void driveCartesian​(double ySpeed,
                                   double xSpeed,
                                   double zRotation,
                                   double gyroAngle)
        Drive method for Killough platform.

        Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.

        Parameters:
        ySpeed - The robot's speed along the Y axis [-1.0..1.0]. Right is positive.
        xSpeed - The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
        zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
        gyroAngle - The current angle reading from the gyro in degrees around the Z axis. Use this to implement field-oriented controls.
      • drivePolar

        public void drivePolar​(double magnitude,
                               double angle,
                               double zRotation)
        Drive method for Killough platform.

        Angles are measured counter-clockwise from straight ahead. The speed at which the robot drives (translation) is independent from its angle or rotation rate.

        Parameters:
        magnitude - The robot's speed at a given angle [-1.0..1.0]. Forward is positive.
        angle - The angle around the Z axis at which the robot drives in degrees [-180..180].
        zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
      • initSendable

        public void initSendable​(SendableBuilder builder)
        Description copied from interface: Sendable
        Initializes this Sendable object.
        Parameters:
        builder - sendable builder