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RobotDrive Class Reference

Utility class for handling Robot drive based on a definition of the motor configuration. More...

#include <RobotDrive.h>

Inheritance diagram for RobotDrive:
MotorSafety ErrorBase

Public Types

enum  MotorType { kFrontLeftMotor = 0, kFrontRightMotor = 1, kRearLeftMotor = 2, kRearRightMotor = 3 }
 

Public Member Functions

 RobotDrive (uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 Constructor for RobotDrive with 2 motors specified with channel numbers. More...
 
 RobotDrive (uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel, uint32_t frontRightMotorChannel, uint32_t 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
 
RobotDriveoperator= (const RobotDrive &)=delete
 
void Drive (float outputMagnitude, float 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)
 
void TankDrive (GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick, uint32_t rightAxis, bool squaredInputs=true)
 Provide tank steering using the stored robot configuration. More...
 
void TankDrive (GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick, uint32_t rightAxis, bool squaredInputs=true)
 
void TankDrive (float leftValue, float 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, uint32_t moveChannel, GenericHID *rotateStick, uint32_t rotateChannel, bool squaredInputs=true)
 Arcade drive implements single stick driving. More...
 
void ArcadeDrive (GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick, uint32_t rotateChannel, bool squaredInputs=true)
 Arcade drive implements single stick driving. More...
 
void ArcadeDrive (float moveValue, float rotateValue, bool squaredInputs=true)
 Arcade drive implements single stick driving. More...
 
void MecanumDrive_Cartesian (float x, float y, float rotation, float gyroAngle=0.0)
 Drive method for Mecanum wheeled robots. More...
 
void MecanumDrive_Polar (float magnitude, float direction, float rotation)
 Drive method for Mecanum wheeled robots. More...
 
void HolonomicDrive (float magnitude, float direction, float rotation)
 Holonomic Drive method for Mecanum wheeled robots. More...
 
virtual void SetLeftRightMotorOutputs (float leftOutput, float rightOutput)
 Set the speed of the right and left motors. More...
 
void SetInvertedMotor (MotorType motor, bool isInverted)
 
void SetSensitivity (float 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 SetCANJaguarSyncGroup (uint8_t syncGroup)
 Set the number of the sync group for the motor controllers. More...
 
void SetExpiration (float timeout) override
 
float GetExpiration () const override
 
bool IsAlive () const override
 
void StopMotor () override
 
bool IsSafetyEnabled () const override
 
void SetSafetyEnabled (bool enabled) override
 
void GetDescription (std::ostringstream &desc) const override
 
- Public Member Functions inherited from 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, uint32_t 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, uint32_t 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, uint32_t 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, uint32_t 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...
 

Protected Member Functions

void InitRobotDrive ()
 Common function to initialize all the robot drive constructors. More...
 
float Limit (float num)
 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

float m_sensitivity = 0.5
 
double m_maxOutput = 1.0
 
std::shared_ptr< SpeedControllerm_frontLeftMotor
 
std::shared_ptr< SpeedControllerm_frontRightMotor
 
std::shared_ptr< SpeedControllerm_rearLeftMotor
 
std::shared_ptr< SpeedControllerm_rearRightMotor
 
std::unique_ptr
< MotorSafetyHelper
m_safetyHelper
 
uint8_t m_syncGroup = 0
 
- Protected Attributes inherited from ErrorBase
Error m_error
 

Static Protected Attributes

static const int32_t kMaxNumberOfMotors = 4
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Additional Inherited Members

- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 

Detailed Description

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.

Constructor & Destructor Documentation

RobotDrive::RobotDrive ( uint32_t  leftMotorChannel,
uint32_t  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.

Parameters
leftMotorChannelThe PWM channel number that drives the left motor. 0-9 are on-board, 10-19 are on the MXP port
rightMotorChannelThe PWM channel number that drives the right motor. 0-9 are on-board, 10-19 are on the MXP port
RobotDrive::RobotDrive ( uint32_t  frontLeftMotor,
uint32_t  rearLeftMotor,
uint32_t  frontRightMotor,
uint32_t  rearRightMotor 
)

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.

Parameters
frontLeftMotorFront left motor channel number. 0-9 are on-board, 10-19 are on the MXP port
rearLeftMotorRear Left motor channel number. 0-9 are on-board, 10-19 are on the MXP port
frontRightMotorFront right motor channel number. 0-9 are on-board, 10-19 are on the MXP port
rearRightMotorRear Right motor channel number. 0-9 are on-board, 10-19 are on the MXP port
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.

Parameters
leftMotorThe left SpeedController object used to drive the robot.
rightMotorthe right SpeedController object used to drive the robot.
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).

Parameters
rearLeftMotorThe back left SpeedController object used to drive the robot.
frontLeftMotorThe front left SpeedController object used to drive the robot
rearRightMotorThe back right SpeedController object used to drive the robot.
frontRightMotorThe front right SpeedController object used to drive the robot.

Member Function Documentation

void RobotDrive::ArcadeDrive ( GenericHID stick,
bool  squaredInputs = true 
)

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.)

Parameters
stickThe 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.
squaredInputsIf true, the sensitivity will be increased for small values
void RobotDrive::ArcadeDrive ( GenericHID stick,
bool  squaredInputs = true 
)

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.)

Parameters
stickThe 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.
squaredInputsIf true, the sensitivity will be increased for small values
void RobotDrive::ArcadeDrive ( GenericHID moveStick,
uint32_t  moveAxis,
GenericHID rotateStick,
uint32_t  rotateAxis,
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.

Parameters
moveStickThe Joystick object that represents the forward/backward direction
moveAxisThe axis on the moveStick object to use for fowards/backwards (typically Y_AXIS)
rotateStickThe Joystick object that represents the rotation value
rotateAxisThe axis on the rotation object to use for the rotate right/left (typically X_AXIS)
squaredInputsSetting this parameter to true increases the sensitivity at lower speeds
void RobotDrive::ArcadeDrive ( GenericHID moveStick,
uint32_t  moveAxis,
GenericHID rotateStick,
uint32_t  rotateAxis,
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.

Parameters
moveStickThe Joystick object that represents the forward/backward direction
moveAxisThe axis on the moveStick object to use for fowards/backwards (typically Y_AXIS)
rotateStickThe Joystick object that represents the rotation value
rotateAxisThe axis on the rotation object to use for the rotate right/left (typically X_AXIS)
squaredInputsSetting this parameter to true increases the sensitivity at lower speeds
void RobotDrive::ArcadeDrive ( float  moveValue,
float  rotateValue,
bool  squaredInputs = true 
)

Arcade drive implements single stick driving.

This function lets you directly provide joystick values from any source.

Parameters
moveValueThe value to use for fowards/backwards
rotateValueThe value to use for the rotate right/left
squaredInputsIf set, increases the sensitivity at low speeds
void RobotDrive::Drive ( float  outputMagnitude,
float  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.

Parameters
outputMagnitudeThe speed setting for the outside wheel in a turn, forward or backwards, +1 to -1.
curveThe 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 RobotDrive::HolonomicDrive ( float  magnitude,
float  direction,
float  rotation 
)

Holonomic Drive method for Mecanum wheeled robots.

This is an alias to MecanumDrive_Polar() for backward compatability

Parameters
magnitudeThe speed that the robot should drive in a given direction. [-1.0..1.0]
directionThe direction the robot should drive. The direction and maginitute are independent of the rotation rate.
rotationThe rate of rotation for the robot that is completely independent of the magnitute or direction. [-1.0..1.0]
void RobotDrive::InitRobotDrive ( )
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 RobotDrive::MecanumDrive_Cartesian ( float  x,
float  y,
float  rotation,
float  gyroAngle = 0.0 
)

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.

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. This input is inverted to match the forward == -1.0 that joysticks produce. [-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 RobotDrive::MecanumDrive_Polar ( float  magnitude,
float  direction,
float  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.

Parameters
magnitudeThe speed that the robot should drive in a given direction. [-1.0..1.0]
directionThe direction the robot should drive in degrees. The direction and maginitute are independent of the rotation rate.
rotationThe rate of rotation for the robot that is completely independent of the magnitute or direction. [-1.0..1.0]
void RobotDrive::SetCANJaguarSyncGroup ( uint8_t  syncGroup)

Set the number of the sync group for the motor controllers.

If the motor controllers are CANJaguars, then they will all be added to this sync group, causing them to update their values at the same time.

Parameters
syncGroupthe update group to add the motor controllers to
void RobotDrive::SetLeftRightMotorOutputs ( float  leftOutput,
float  rightOutput 
)
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.

Parameters
leftOutputThe speed to send to the left side of the robot.
rightOutputThe speed to send to the right side of the robot.
void RobotDrive::SetMaxOutput ( double  maxOutput)

Configure the scaling factor for using RobotDrive with motor controllers in a mode other than PercentVbus.

Parameters
maxOutputMultiplied with the output percentage computed by the drive functions.
void RobotDrive::SetSensitivity ( float  sensitivity)

Set the turning sensitivity.

This only impacts the Drive() entry-point.

Parameters
sensitivityEffectively sets the turning sensitivity (or turn radius for a given value)
void RobotDrive::TankDrive ( GenericHID leftStick,
GenericHID rightStick,
bool  squaredInputs = true 
)

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.

Parameters
leftStickThe joystick to control the left side of the robot.
rightStickThe joystick to control the right side of the robot.
void RobotDrive::TankDrive ( GenericHID leftStick,
uint32_t  leftAxis,
GenericHID rightStick,
uint32_t  rightAxis,
bool  squaredInputs = true 
)

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.

Parameters
leftStickThe Joystick object to use for the left side of the robot.
leftAxisThe axis to select on the left side Joystick object.
rightStickThe Joystick object to use for the right side of the robot.
rightAxisThe axis to select on the right side Joystick object.
void RobotDrive::TankDrive ( float  leftValue,
float  rightValue,
bool  squaredInputs = true 
)

Provide tank steering using the stored robot configuration.

This function lets you directly provide joystick values from any source.

Parameters
leftValueThe value of the left stick.
rightValueThe value of the right stick.

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