WPILibC++  unspecified
frc::MecanumDrive Class Reference

A class for driving Mecanum drive platforms. More...

#include <MecanumDrive.h>

Inheritance diagram for frc::MecanumDrive:
Collaboration diagram for frc::MecanumDrive:

Public Member Functions

 MecanumDrive (SpeedController &frontLeftMotor, SpeedController &rearLeftMotor, SpeedController &frontRightMotor, SpeedController &rearRightMotor)
 Construct a MecanumDrive. More...
 
 MecanumDrive (const MecanumDrive &)=delete
 
MecanumDriveoperator= (const MecanumDrive &)=delete
 
void DriveCartesian (double x, double y, double rotation, double gyroAngle=0.0)
 Drive method for Mecanum platform. More...
 
void DrivePolar (double magnitude, double angle, double rotation)
 Drive method for Mecanum platform. More...
 
void StopMotor () override
 
void GetDescription (llvm::raw_ostream &desc) const override
 
- Public Member Functions inherited from frc::RobotDriveBase
 RobotDriveBase (const RobotDriveBase &)=delete
 
RobotDriveBaseoperator= (const RobotDriveBase &)=delete
 
void SetDeadband (double deadband)
 
void SetMaxOutput (double maxOutput)
 Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus. More...
 
void SetExpiration (double timeout) override
 
double GetExpiration () const override
 
bool IsAlive () const override
 
bool IsSafetyEnabled () const override
 
void SetSafetyEnabled (bool enabled) override
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Additional Inherited Members

- Public Types inherited from frc::RobotDriveBase
enum  MotorType {
  kFrontLeft = 0, kFrontRight = 1, kRearLeft = 2, kRearRight = 3,
  kLeft = 0, kRight = 1, kBack = 2
}
 The location of a motor on the robot for the purpose of driving.
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::RobotDriveBase
double Limit (double number)
 Limit motor values to the -1.0 to +1.0 range.
 
double ApplyDeadband (double number, double deadband)
 Returns 0.0 if the given value is within the specified range around zero. More...
 
void Normalize (llvm::MutableArrayRef< double > wheelSpeeds)
 Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
 
- Protected Attributes inherited from frc::RobotDriveBase
double m_deadband = 0.02
 
double m_maxOutput = 1.0
 
MotorSafetyHelper m_safetyHelper {this}
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static std::mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

A class for driving Mecanum drive platforms.

Mecanum drives are rectangular with one wheel on each corner. Each wheel has rollers toed in 45 degrees toward the front or back. When looking at the wheels from the top, the roller axles should form an X across the robot.

Drive base diagram:

\_______/
\ |   | /
  |   |
/_|___|_\
/       \

Each Drive() function provides different inverse kinematic relations for a Mecanum drive robot. Motor outputs for the right side are negated, so motor direction inversion by the user is usually unnecessary.

Constructor & Destructor Documentation

MecanumDrive::MecanumDrive ( SpeedController frontLeftMotor,
SpeedController rearLeftMotor,
SpeedController frontRightMotor,
SpeedController rearRightMotor 
)

Construct a MecanumDrive.

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

Member Function Documentation

void MecanumDrive::DriveCartesian ( double  x,
double  y,
double  rotation,
double  gyroAngle = 0.0 
)

Drive method for Mecanum platform.

Parameters
xThe speed that the robot should drive in the X direction. [-1.0..1.0]
yThe speed that the robot should drive in the Y direction. [-1.0..1.0]
rotationThe rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0]
gyroAngleThe current angle reading from the gyro. Use this to implement field-oriented controls.
void MecanumDrive::DrivePolar ( double  magnitude,
double  angle,
double  rotation 
)

Drive method for Mecanum platform.

Parameters
magnitudeThe speed that the robot should drive in a given direction. [-1.0..1.0]
angleThe direction the robot should drive in degrees. 0.0 is straight ahead. The direction and maginitude are independent of the rotation rate.
rotationThe rate of rotation for the robot that is completely independent of the magnitude or direction. [-1.0..1.0]

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