Class AbstractFieldMecanumLogic¶

Defined in File abstract_field_mecanum_logic.hpp

Class Documentation¶

class AbstractFieldMecanumLogic¶

This is called Field Mecanum Logic because the frame of refernce is relative to the field Translation is the percentage of the maximum speed Positive rotation is counterclockwise it a percentage of the maximum speed that will be applied to offset left and right sides to produce a rotation (i.e. if the max speed is 100 f/s, then 0.5 will mean that the difference between the overall motion of the left and right sides of the drive will be by 50 f/s. A positive value will mean the robot will rotate counterclockwise.)

Refer to https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html The formula has been adapted so that the positive rotation is counter-clockwise. Although this is does not smoothly translate joystick movements, it is mathematically consistent with the convention that counter-clockwise. That is the main context for MecanumLogic. With the IMU being involved, it is imperative that a single rotational convention is used. And it is recommended that the mathematical ones would be the choice.

Public Types

using AbstractQuadDriveData = AbstractQuadSpeeds ¶

Public Functions

void setMotion(const AbstractVelocity2D &translation, double rotationalOffset)¶

void setTotalMotion(const AbstractVelocity2D &translation, double rotationOffset, const Radians &robotAngle)¶

void setRobotAngle(const Radians &robotAngle)¶: If the robot is facing forward at the field, that is 0 degrees. If the robot is facing left from the forward field direction, that is +90 degrees If the robot is racing right from the forward field direction that is -90 degrees

void setTranslation(const AbstractVelocity2D &translation)¶

void setRotationOffset(double rotationalOffset)¶

Radians getRobotAngle() const¶

AbstractVelocity2D getTranslation() const¶

double getRotationOffset() const¶

AbstractQuadDriveData getWheelSpeeds() const¶