WPILibC++
2019.1.1-beta-2-41-gd65547e
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A class for driving Mecanum drive platforms. More...
#include <MecanumDrive.h>
Public Member Functions | |
MecanumDrive (SpeedController &frontLeftMotor, SpeedController &rearLeftMotor, SpeedController &frontRightMotor, SpeedController &rearRightMotor) | |
Construct a MecanumDrive. More... | |
MecanumDrive (MecanumDrive &&)=default | |
MecanumDrive & | operator= (MecanumDrive &&)=default |
void | DriveCartesian (double ySpeed, double xSpeed, double zRotation, double gyroAngle=0.0) |
Drive method for Mecanum platform. More... | |
void | DrivePolar (double magnitude, double angle, double zRotation) |
Drive method for Mecanum platform. More... | |
bool | IsRightSideInverted () const |
Gets if the power sent to the right side of the drivetrain is multipled by -1. More... | |
void | SetRightSideInverted (bool rightSideInverted) |
Sets if the power sent to the right side of the drivetrain should be multipled by -1. More... | |
void | StopMotor () override |
void | GetDescription (wpi::raw_ostream &desc) const override |
void | InitSendable (SendableBuilder &builder) override |
Initializes this Sendable object. More... | |
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RobotDriveBase (RobotDriveBase &&)=default | |
RobotDriveBase & | operator= (RobotDriveBase &&)=default |
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... | |
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MotorSafety (MotorSafety &&rhs) | |
MotorSafety & | operator= (MotorSafety &&rhs) |
void | Feed () |
Feed the motor safety object. More... | |
void | SetExpiration (double expirationTime) |
Set the expiration time for the corresponding motor safety object. More... | |
double | GetExpiration () const |
Retrieve the timeout value for the corresponding motor safety object. More... | |
bool | IsAlive () const |
Determine if the motor is still operating or has timed out. More... | |
void | SetSafetyEnabled (bool enabled) |
Enable/disable motor safety for this device. More... | |
bool | IsSafetyEnabled () const |
Return the state of the motor safety enabled flag. More... | |
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ErrorBase (ErrorBase &&)=default | |
ErrorBase & | operator= (ErrorBase &&)=default |
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... | |
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SendableBase (bool addLiveWindow=true) | |
Creates an instance of the sensor base. More... | |
SendableBase (SendableBase &&rhs) | |
SendableBase & | operator= (SendableBase &&rhs) |
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... | |
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Sendable (Sendable &&)=default | |
Sendable & | operator= (Sendable &&)=default |
void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
Additional Inherited Members | |
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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. | |
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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. | |
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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. | |
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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... | |
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double | m_deadband = 0.02 |
double | m_maxOutput = 1.0 |
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Error | m_error |
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.
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 to the right, and the positive Z axis points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is positive.
Inputs smaller then 0.02 will be set to 0, and larger values will be scaled so that the full range is still used. This deadband value can be changed with SetDeadband().
RobotDrive porting guide:
In MecanumDrive, the right side speed controllers are automatically inverted, while in RobotDrive, no speed controllers are automatically inverted.
DriveCartesian(double, double, double, double) is equivalent to RobotDrive::MecanumDrive_Cartesian(double, double, double, double) if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted compared to RobotDrive (eg DriveCartesian(xSpeed, -ySpeed, zRotation, -gyroAngle).
DrivePolar(double, double, double) is equivalent to RobotDrive::MecanumDrive_Polar(double, double, double) if a deadband of 0 is used.
frc::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.
void frc::MecanumDrive::DriveCartesian | ( | double | ySpeed, |
double | xSpeed, | ||
double | zRotation, | ||
double | gyroAngle = 0.0 |
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) |
Drive method for Mecanum platform.
Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.
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. |
void frc::MecanumDrive::DrivePolar | ( | double | magnitude, |
double | angle, | ||
double | zRotation | ||
) |
Drive method for Mecanum platform.
Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.
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. |
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overridevirtual |
bool frc::MecanumDrive::IsRightSideInverted | ( | ) | const |
Gets if the power sent to the right side of the drivetrain is multipled by -1.
void frc::MecanumDrive::SetRightSideInverted | ( | bool | rightSideInverted | ) |
Sets if the power sent to the right side of the drivetrain should be multipled by -1.
rightSideInverted | true if right side power should be multipled by -1 |