WPILibC++
2018.4.1-20180729123227-1139-ga11fcb6
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Utility class for handling Robot drive based on a definition of the motor configuration. More...
#include <RobotDrive.h>
Public Types | |
enum | MotorType { kFrontLeftMotor = 0, kFrontRightMotor = 1, kRearLeftMotor = 2, kRearRightMotor = 3 } |
Public Member Functions | |
RobotDrive (int leftMotorChannel, int rightMotorChannel) | |
Constructor for RobotDrive with 2 motors specified with channel numbers. More... | |
RobotDrive (int frontLeftMotorChannel, int rearLeftMotorChannel, int frontRightMotorChannel, int rearRightMotorChannel) | |
Constructor for RobotDrive with 4 motors specified with channel numbers. More... | |
RobotDrive (SpeedController *leftMotor, SpeedController *rightMotor) | |
Constructor for RobotDrive with 2 motors specified as SpeedController objects. More... | |
RobotDrive (SpeedController &leftMotor, SpeedController &rightMotor) | |
RobotDrive (std::shared_ptr< SpeedController > leftMotor, std::shared_ptr< SpeedController > rightMotor) | |
RobotDrive (SpeedController *frontLeftMotor, SpeedController *rearLeftMotor, SpeedController *frontRightMotor, SpeedController *rearRightMotor) | |
Constructor for RobotDrive with 4 motors specified as SpeedController objects. More... | |
RobotDrive (SpeedController &frontLeftMotor, SpeedController &rearLeftMotor, SpeedController &frontRightMotor, SpeedController &rearRightMotor) | |
RobotDrive (std::shared_ptr< SpeedController > frontLeftMotor, std::shared_ptr< SpeedController > rearLeftMotor, std::shared_ptr< SpeedController > frontRightMotor, std::shared_ptr< SpeedController > rearRightMotor) | |
RobotDrive (const RobotDrive &)=delete | |
RobotDrive & | operator= (const RobotDrive &)=delete |
void | Drive (double outputMagnitude, double curve) |
Drive the motors at "outputMagnitude" and "curve". More... | |
void | TankDrive (GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs=true) |
Provide tank steering using the stored robot configuration. More... | |
void | TankDrive (GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs=true) |
Provide tank steering using the stored robot configuration. More... | |
void | TankDrive (GenericHID *leftStick, int leftAxis, GenericHID *rightStick, int rightAxis, bool squaredInputs=true) |
Provide tank steering using the stored robot configuration. More... | |
void | TankDrive (GenericHID &leftStick, int leftAxis, GenericHID &rightStick, int rightAxis, bool squaredInputs=true) |
void | TankDrive (double leftValue, double rightValue, bool squaredInputs=true) |
Provide tank steering using the stored robot configuration. More... | |
void | ArcadeDrive (GenericHID *stick, bool squaredInputs=true) |
Arcade drive implements single stick driving. More... | |
void | ArcadeDrive (GenericHID &stick, bool squaredInputs=true) |
Arcade drive implements single stick driving. More... | |
void | ArcadeDrive (GenericHID *moveStick, int moveChannel, GenericHID *rotateStick, int rotateChannel, bool squaredInputs=true) |
Arcade drive implements single stick driving. More... | |
void | ArcadeDrive (GenericHID &moveStick, int moveChannel, GenericHID &rotateStick, int rotateChannel, bool squaredInputs=true) |
Arcade drive implements single stick driving. More... | |
void | ArcadeDrive (double moveValue, double rotateValue, bool squaredInputs=true) |
Arcade drive implements single stick driving. More... | |
void | MecanumDrive_Cartesian (double x, double y, double rotation, double gyroAngle=0.0) |
Drive method for Mecanum wheeled robots. More... | |
void | MecanumDrive_Polar (double magnitude, double direction, double rotation) |
Drive method for Mecanum wheeled robots. More... | |
void | HolonomicDrive (double magnitude, double direction, double rotation) |
Holonomic Drive method for Mecanum wheeled robots. More... | |
virtual void | SetLeftRightMotorOutputs (double leftOutput, double rightOutput) |
Set the speed of the right and left motors. More... | |
void | SetInvertedMotor (MotorType motor, bool isInverted) |
void | SetSensitivity (double sensitivity) |
Set the turning sensitivity. More... | |
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 |
void | StopMotor () override |
bool | IsSafetyEnabled () const override |
void | SetSafetyEnabled (bool enabled) override |
void | GetDescription (wpi::raw_ostream &desc) const override |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
Retrieve the current error. More... | |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual void | SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
Protected Member Functions | |
void | InitRobotDrive () |
Common function to initialize all the robot drive constructors. More... | |
double | Limit (double number) |
Limit motor values to the -1.0 to +1.0 range. | |
void | Normalize (double *wheelSpeeds) |
Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. | |
void | RotateVector (double &x, double &y, double angle) |
Rotate a vector in Cartesian space. | |
Protected Attributes | |
double | m_sensitivity = 0.5 |
double | m_maxOutput = 1.0 |
std::shared_ptr< SpeedController > | m_frontLeftMotor |
std::shared_ptr< SpeedController > | m_frontRightMotor |
std::shared_ptr< SpeedController > | m_rearLeftMotor |
std::shared_ptr< SpeedController > | m_rearRightMotor |
std::unique_ptr < MotorSafetyHelper > | m_safetyHelper |
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Error | m_error |
Static Protected Attributes | |
static constexpr int | kMaxNumberOfMotors = 4 |
Additional Inherited Members | |
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static void | SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static const Error & | GetGlobalError () |
Retrieve the current global error. | |
Utility class for handling Robot drive based on a definition of the motor configuration.
The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor tank and mecanum drive trains are supported. In the future other drive types like swerve might be implemented. Motor channel numbers are passed supplied on creation of the class. Those are used for either the Drive function (intended for hand created drive code, such as autonomous) or with the Tank/Arcade functions intended to be used for Operator Control driving.
frc::RobotDrive::RobotDrive | ( | int | leftMotorChannel, |
int | rightMotorChannel | ||
) |
Constructor for RobotDrive with 2 motors specified with channel numbers.
Set up parameters for a two wheel drive system where the left and right motor pwm channels are specified in the call. This call assumes Talons for controlling the motors.
frc::RobotDrive::RobotDrive | ( | int | frontLeftMotorChannel, |
int | rearLeftMotorChannel, | ||
int | frontRightMotorChannel, | ||
int | rearRightMotorChannel | ||
) |
Constructor for RobotDrive with 4 motors specified with channel numbers.
Set up parameters for a four wheel drive system where all four motor pwm channels are specified in the call. This call assumes Talons for controlling the motors.
frontLeftMotor | Front left motor channel number. 0-9 are on-board, 10-19 are on the MXP port |
rearLeftMotor | Rear Left motor channel number. 0-9 are on-board, 10-19 are on the MXP port |
frontRightMotor | Front right motor channel number. 0-9 are on-board, 10-19 are on the MXP port |
rearRightMotor | Rear Right motor channel number. 0-9 are on-board, 10-19 are on the MXP port |
frc::RobotDrive::RobotDrive | ( | SpeedController * | leftMotor, |
SpeedController * | rightMotor | ||
) |
Constructor for RobotDrive with 2 motors specified as SpeedController objects.
The SpeedController version of the constructor enables programs to use the RobotDrive classes with subclasses of the SpeedController objects, for example, versions with ramping or reshaping of the curve to suit motor bias or deadband elimination.
leftMotor | The left SpeedController object used to drive the robot. |
rightMotor | The right SpeedController object used to drive the robot. |
frc::RobotDrive::RobotDrive | ( | SpeedController * | frontLeftMotor, |
SpeedController * | rearLeftMotor, | ||
SpeedController * | frontRightMotor, | ||
SpeedController * | rearRightMotor | ||
) |
Constructor for RobotDrive with 4 motors specified as SpeedController objects.
Speed controller input version of RobotDrive (see previous comments).
frontLeftMotor | The front left SpeedController object used to drive the robot. |
rearLeftMotor | The back left SpeedController object used to drive the robot. |
frontRightMotor | The front right SpeedController object used to drive the robot. |
rearRightMotor | The back right SpeedController object used to drive the robot. |
void frc::RobotDrive::ArcadeDrive | ( | GenericHID * | stick, |
bool | squaredInputs = true |
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) |
Arcade drive implements single stick driving.
Given a single Joystick, the class assumes the Y axis for the move value and the X axis for the rotate value. (Should add more information here regarding the way that arcade drive works.)
stick | The joystick to use for Arcade single-stick driving. The Y-axis will be selected for forwards/backwards and the X-axis will be selected for rotation rate. |
squaredInputs | If true, the sensitivity will be decreased for small values |
void frc::RobotDrive::ArcadeDrive | ( | GenericHID & | stick, |
bool | squaredInputs = true |
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) |
Arcade drive implements single stick driving.
Given a single Joystick, the class assumes the Y axis for the move value and the X axis for the rotate value. (Should add more information here regarding the way that arcade drive works.)
stick | The joystick to use for Arcade single-stick driving. The Y-axis will be selected for forwards/backwards and the X-axis will be selected for rotation rate. |
squaredInputs | If true, the sensitivity will be decreased for small values |
void frc::RobotDrive::ArcadeDrive | ( | GenericHID * | moveStick, |
int | moveChannel, | ||
GenericHID * | rotateStick, | ||
int | rotateChannel, | ||
bool | squaredInputs = true |
||
) |
Arcade drive implements single stick driving.
Given two joystick instances and two axis, compute the values to send to either two or four motors.
moveStick | The Joystick object that represents the forward/backward direction |
moveAxis | The axis on the moveStick object to use for forwards/backwards (typically Y_AXIS) |
rotateStick | The Joystick object that represents the rotation value |
rotateAxis | The axis on the rotation object to use for the rotate right/left (typically X_AXIS) |
squaredInputs | Setting this parameter to true increases the sensitivity at lower speeds |
void frc::RobotDrive::ArcadeDrive | ( | GenericHID & | moveStick, |
int | moveChannel, | ||
GenericHID & | rotateStick, | ||
int | rotateChannel, | ||
bool | squaredInputs = true |
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) |
Arcade drive implements single stick driving.
Given two joystick instances and two axis, compute the values to send to either two or four motors.
moveStick | The Joystick object that represents the forward/backward direction |
moveAxis | The axis on the moveStick object to use for forwards/backwards (typically Y_AXIS) |
rotateStick | The Joystick object that represents the rotation value |
rotateAxis | The axis on the rotation object to use for the rotate right/left (typically X_AXIS) |
squaredInputs | Setting this parameter to true increases the sensitivity at lower speeds |
void frc::RobotDrive::ArcadeDrive | ( | double | moveValue, |
double | rotateValue, | ||
bool | squaredInputs = true |
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) |
Arcade drive implements single stick driving.
This function lets you directly provide joystick values from any source.
moveValue | The value to use for fowards/backwards |
rotateValue | The value to use for the rotate right/left |
squaredInputs | If set, increases the sensitivity at low speeds |
void frc::RobotDrive::Drive | ( | double | outputMagnitude, |
double | curve | ||
) |
Drive the motors at "outputMagnitude" and "curve".
Both outputMagnitude and curve are -1.0 to +1.0 values, where 0.0 represents stopped and not turning. curve < 0 will turn left and curve > 0 will turn right.
The algorithm for steering provides a constant turn radius for any normal speed range, both forward and backward. Increasing m_sensitivity causes sharper turns for fixed values of curve.
This function will most likely be used in an autonomous routine.
outputMagnitude | The speed setting for the outside wheel in a turn, forward or backwards, +1 to -1. |
curve | The rate of turn, constant for different forward speeds. Set curve < 0 for left turn or curve > 0 for right turn. |
Set curve = e^(-r/w) to get a turn radius r for wheelbase w of your robot. Conversely, turn radius r = -ln(curve)*w for a given value of curve and wheelbase w.
void frc::RobotDrive::HolonomicDrive | ( | double | magnitude, |
double | direction, | ||
double | rotation | ||
) |
Holonomic Drive method for Mecanum wheeled robots.
This is an alias to MecanumDrive_Polar() for backward compatability
magnitude | The speed that the robot should drive in a given direction. [-1.0..1.0] |
direction | The direction the robot should drive. The direction and magnitude are independent of the rotation rate. |
rotation | The rate of rotation for the robot that is completely independent of the magnitude or direction. [-1.0..1.0] |
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protected |
Common function to initialize all the robot drive constructors.
Create a motor safety object (the real reason for the common code) and initialize all the motor assignments. The default timeout is set for the robot drive.
void frc::RobotDrive::MecanumDrive_Cartesian | ( | double | x, |
double | y, | ||
double | rotation, | ||
double | gyroAngle = 0.0 |
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) |
Drive method for Mecanum wheeled robots.
A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.
This is designed to be directly driven by joystick axes.
x | The speed that the robot should drive in the X direction. [-1.0..1.0] |
y | The speed that the robot should drive in the Y direction. This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0] |
rotation | The rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0] |
gyroAngle | The current angle reading from the gyro. Use this to implement field-oriented controls. |
void frc::RobotDrive::MecanumDrive_Polar | ( | double | magnitude, |
double | direction, | ||
double | rotation | ||
) |
Drive method for Mecanum wheeled robots.
A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.
magnitude | The speed that the robot should drive in a given direction. [-1.0..1.0] |
direction | The direction the robot should drive in degrees. The direction and maginitute are independent of the rotation rate. |
rotation | The rate of rotation for the robot that is completely independent of the magnitute or direction. [-1.0..1.0] |
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virtual |
Set the speed of the right and left motors.
This is used once an appropriate drive setup function is called such as TwoWheelDrive(). The motors are set to "leftOutput" and "rightOutput" and includes flipping the direction of one side for opposing motors.
leftOutput | The speed to send to the left side of the robot. |
rightOutput | The speed to send to the right side of the robot. |
void frc::RobotDrive::SetMaxOutput | ( | double | maxOutput | ) |
Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus.
maxOutput | Multiplied with the output percentage computed by the drive functions. |
void frc::RobotDrive::SetSensitivity | ( | double | sensitivity | ) |
Set the turning sensitivity.
This only impacts the Drive() entry-point.
sensitivity | Effectively sets the turning sensitivity (or turn radius for a given value) |
void frc::RobotDrive::TankDrive | ( | GenericHID * | leftStick, |
GenericHID * | rightStick, | ||
bool | squaredInputs = true |
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) |
Provide tank steering using the stored robot configuration.
Drive the robot using two joystick inputs. The Y-axis will be selected from each Joystick object.
leftStick | The joystick to control the left side of the robot. |
rightStick | The joystick to control the right side of the robot. |
squaredInputs | If true, the sensitivity will be decreased for small values |
void frc::RobotDrive::TankDrive | ( | GenericHID & | leftStick, |
GenericHID & | rightStick, | ||
bool | squaredInputs = true |
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) |
Provide tank steering using the stored robot configuration.
Drive the robot using two joystick inputs. The Y-axis will be selected from each Joystick object.
leftStick | The joystick to control the left side of the robot. |
rightStick | The joystick to control the right side of the robot. |
squaredInputs | If true, the sensitivity will be decreased for small values |
void frc::RobotDrive::TankDrive | ( | GenericHID * | leftStick, |
int | leftAxis, | ||
GenericHID * | rightStick, | ||
int | rightAxis, | ||
bool | squaredInputs = true |
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) |
Provide tank steering using the stored robot configuration.
This function lets you pick the axis to be used on each Joystick object for the left and right sides of the robot.
leftStick | The Joystick object to use for the left side of the robot. |
leftAxis | The axis to select on the left side Joystick object. |
rightStick | The Joystick object to use for the right side of the robot. |
rightAxis | The axis to select on the right side Joystick object. |
squaredInputs | If true, the sensitivity will be decreased for small values |
void frc::RobotDrive::TankDrive | ( | double | leftValue, |
double | rightValue, | ||
bool | squaredInputs = true |
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) |
Provide tank steering using the stored robot configuration.
This function lets you directly provide joystick values from any source.
leftValue | The value of the left stick. |
rightValue | The value of the right stick. |
squaredInputs | If true, the sensitivity will be decreased for small values |