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frc::KilloughDrive Class Reference

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

#include <KilloughDrive.h>

Inheritance diagram for frc::KilloughDrive:
frc::RobotDriveBase frc::MotorSafety frc::SendableBase frc::Sendable

Public Member Functions

 KilloughDrive (SpeedController &leftMotor, SpeedController &rightMotor, SpeedController &backMotor)
 Construct a Killough drive with the given motors and default motor angles. More...
 
 KilloughDrive (SpeedController &leftMotor, SpeedController &rightMotor, SpeedController &backMotor, double leftMotorAngle, double rightMotorAngle, double backMotorAngle)
 Construct a Killough drive with the given motors. More...
 
 KilloughDrive (const KilloughDrive &)=delete
 
KilloughDriveoperator= (const KilloughDrive &)=delete
 
void DriveCartesian (double ySpeed, double xSpeed, double zRotation, double gyroAngle=0.0)
 Drive method for Killough platform. More...
 
void DrivePolar (double magnitude, double angle, double zRotation)
 Drive method for Killough platform. More...
 
void StopMotor () override
 
void GetDescription (wpi::raw_ostream &desc) const override
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::RobotDriveBase
 RobotDriveBase (const RobotDriveBase &)=delete
 
RobotDriveBaseoperator= (const RobotDriveBase &)=delete
 
void SetDeadband (double deadband)
 Sets the deadband applied to the drive inputs (e.g., joystick values). More...
 
void SetMaxOutput (double maxOutput)
 Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus or to limit the maximum output. More...
 
void FeedWatchdog ()
 Feed the motor safety object. 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::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Static Public Attributes

static constexpr double kDefaultLeftMotorAngle = 60.0
 
static constexpr double kDefaultRightMotorAngle = 120.0
 
static constexpr double kDefaultBackMotorAngle = 270.0
 

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.
 
- 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 (wpi::MutableArrayRef< double > wheelSpeeds)
 Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
- Protected Attributes inherited from frc::RobotDriveBase
double m_deadband = 0.02
 
double m_maxOutput = 1.0
 
MotorSafetyHelper m_safetyHelper {this}
 

Detailed Description

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

Constructor & Destructor Documentation

frc::KilloughDrive::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
leftMotorThe motor on the left corner.
rightMotorThe motor on the right corner.
backMotorThe motor on the back corner.
frc::KilloughDrive::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
leftMotorThe motor on the left corner.
rightMotorThe motor on the right corner.
backMotorThe motor on the back corner.
leftMotorAngleThe angle of the left wheel's forward direction of travel.
rightMotorAngleThe angle of the right wheel's forward direction of travel.
backMotorAngleThe angle of the back wheel's forward direction of travel.

Member Function Documentation

void frc::KilloughDrive::DriveCartesian ( double  ySpeed,
double  xSpeed,
double  zRotation,
double  gyroAngle = 0.0 
)

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
ySpeedThe robot's speed along the Y axis [-1.0..1.0]. Right is positive.
xSpeedThe robot's speed along the X axis [-1.0..1.0]. Forward is positive.
zRotationThe robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
gyroAngleThe current angle reading from the gyro in degrees around the Z axis. Use this to implement field-oriented controls.
void frc::KilloughDrive::DrivePolar ( double  magnitude,
double  angle,
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
magnitudeThe robot's speed at a given angle [-1.0..1.0]. Forward is positive.
angleThe angle around the Z axis at which the robot drives in degrees [-180..180].
zRotationThe robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.
void frc::KilloughDrive::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.


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