RobotDrive Class Reference

#include <RobotDrive.h>

Inheritance diagram for RobotDrive:

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

Public Member Functions
	RobotDrive (uint32_t leftMotorChannel, uint32_t rightMotorChannel)
	RobotDrive (uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel, uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel)
	RobotDrive (SpeedController *leftMotor, SpeedController *rightMotor)
	RobotDrive (SpeedController &leftMotor, SpeedController &rightMotor)
	RobotDrive (SpeedController *frontLeftMotor, SpeedController *rearLeftMotor, SpeedController *frontRightMotor, SpeedController *rearRightMotor)
	RobotDrive (SpeedController &frontLeftMotor, SpeedController &rearLeftMotor, SpeedController &frontRightMotor, SpeedController &rearRightMotor)
virtual	~RobotDrive ()
void	Drive (float outputMagnitude, float curve)
void	TankDrive (GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs=true)
void	TankDrive (GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs=true)
void	TankDrive (GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick, uint32_t rightAxis, bool squaredInputs=true)
void	TankDrive (GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick, uint32_t rightAxis, bool squaredInputs=true)
void	TankDrive (float leftValue, float rightValue, bool squaredInputs=true)
void	ArcadeDrive (GenericHID *stick, bool squaredInputs=true)
void	ArcadeDrive (GenericHID &stick, bool squaredInputs=true)
void	ArcadeDrive (GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick, uint32_t rotateChannel, bool squaredInputs=true)
void	ArcadeDrive (GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick, uint32_t rotateChannel, bool squaredInputs=true)
void	ArcadeDrive (float moveValue, float rotateValue, bool squaredInputs=true)
void	MecanumDrive_Cartesian (float x, float y, float rotation, float gyroAngle=0.0)
void	MecanumDrive_Polar (float magnitude, float direction, float rotation)
void	HolonomicDrive (float magnitude, float direction, float rotation)
virtual void	SetLeftRightMotorOutputs (float leftOutput, float rightOutput)
void	SetInvertedMotor (MotorType motor, bool isInverted)
void	SetSensitivity (float sensitivity)
void	SetMaxOutput (double maxOutput)
void	SetExpiration (float timeout)
float	GetExpiration ()
bool	IsAlive ()
void	StopMotor ()
bool	IsSafetyEnabled ()
void	SetSafetyEnabled (bool enabled)
void	GetDescription (char *desc)
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *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, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	CloneError (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 ()
float	Limit (float num)
void	Normalize (double *wheelSpeeds)
void	RotateVector (double &x, double &y, double angle)
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Protected Attributes
int32_t	m_invertedMotors [kMaxNumberOfMotors]
float	m_sensitivity
double	m_maxOutput
bool	m_deleteSpeedControllers
SpeedController *	m_frontLeftMotor
SpeedController *	m_frontRightMotor
SpeedController *	m_rearLeftMotor
SpeedController *	m_rearRightMotor
MotorSafetyHelper *	m_safetyHelper
Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes
static const int32_t	kMaxNumberOfMotors = 4
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Additional Inherited Members
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static Error &	GetGlobalError ()

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 standard drive trains are supported. In the future other drive types like swerve and meccanum 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 Jaguars for controlling the motors.

Parameters

leftMotorChannel	The PWM channel number on the default digital module that drives the left motor.
rightMotorChannel	The PWM channel number on the default digital module that drives the right motor.

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 Jaguars for controlling the motors.

Parameters

frontLeftMotor	Front left motor channel number on the default digital module
rearLeftMotor	Rear Left motor channel number on the default digital module
frontRightMotor	Front right motor channel number on the default digital module
rearRightMotor	Rear Right motor channel number on the default digital module

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

leftMotor	The left SpeedController object used to drive the robot.
rightMotor	the 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

rearLeftMotor	The back left SpeedController object used to drive the robot.
frontLeftMotor	The front left SpeedController object used to drive the robot
rearRightMotor	The back right SpeedController object used to drive the robot.
frontRightMotor	The front right SpeedController object used to drive the robot.

RobotDrive::~RobotDrive ( )

virtual

RobotDrive destructor. Deletes motor objects that were not passed in and created internally only.

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

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 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

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 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

moveStick	The Joystick object that represents the forward/backward direction
moveAxis	The axis on the moveStick object to use for fowards/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 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

moveStick	The Joystick object that represents the forward/backward direction
moveAxis	The axis on the moveStick object to use for fowards/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 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

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 RobotDrive::Drive	(	float	outputMagnitude,
		float	curve
	)

Drive the motors at "speed" and "curve".

The speed and curve are -1.0 to +1.0 values where 0.0 represents stopped and not turning. The algorithm for adding in the direction attempts to provide a constant turn radius for differing speeds.

This function will most likely be used in an autonomous routine.

Parameters

outputMagnitude	The forward component of the output magnitude to send to the motors.
curve	The rate of turn, constant for different forward speeds.

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

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 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]

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.

float RobotDrive::Limit ( float  num )

protected

Limit motor values to the -1.0 to +1.0 range.

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

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 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

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]

void RobotDrive::Normalize ( double *  wheelSpeeds )

protected

Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.

void RobotDrive::RotateVector ( double &  x, double &  y, double  angle  )

protected

Rotate a vector in Cartesian space.

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

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 RobotDrive::SetMaxOutput

(

double

maxOutput

)

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

Parameters

maxOutput

Multiplied 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

sensitivity

Effectively 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

leftStick	The joystick to control the left side of the robot.
rightStick	The 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

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.

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

leftValue	The value of the left stick.
rightValue	The value of the right stick.

---

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

• RobotDrive.h
• RobotDrive.cpp