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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::ErrorBase 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 (KilloughDrive &&)=default
 
KilloughDriveoperator= (KilloughDrive &&)=default
 
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 (RobotDriveBase &&)=default
 
RobotDriveBaseoperator= (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...
 
- Public Member Functions inherited from frc::MotorSafety
 MotorSafety (MotorSafety &&rhs)
 
MotorSafetyoperator= (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...
 
void Check ()
 Check if this motor has exceeded its timeout. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () 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...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (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...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (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...
 

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.
 
- Static Public Member Functions inherited from frc::MotorSafety
static void CheckMotors ()
 Check the motors to see if any have timed out. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
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 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 (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
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

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: