fang::chassis::MecanumDrive Class Reference

#include <mecanum_drive.hpp>

Inheritance diagram for fang::chassis::MecanumDrive:

Collaboration diagram for fang::chassis::MecanumDrive:

Classes
struct	ChassisDimensionConfig
struct	Config

Public Types
using	Imu = trap::communication::sensors::IImu

Public Member Functions
	MecanumDrive (Drivers &drivers, std::unique_ptr< IQuadDrive > quadDrive, std::unique_ptr< Imu > imu, const Config &config)
void	setTargetTranslation (const physics::Velocity2D &translation) override
void	setTargetRotation (const RPM &rotation) override
void	initialize () override
void	update () override
void	refresh () override
void	refreshSafeDisconnect () override
Public Member Functions inherited from fang::chassis::HolonomicSubsystem
	HolonomicSubsystem (Drivers &drivers)
virtual	~HolonomicSubsystem ()
Public Member Functions inherited from tap::control::Subsystem
	Subsystem (Drivers *drivers)
virtual	~Subsystem ()
void	registerAndInitialize ()
mockable void	setDefaultCommand (Command *defaultCommand)
mockable Command *	getDefaultCommand () const
mockable void	setTestCommand (Command *testCommand)
mockable Command *	getTestCommand () const
virtual const char *	getName () const
mockable int	getGlobalIdentifier () const

Additional Inherited Members
Protected Attributes inherited from tap::control::Subsystem
Drivers *	drivers

Detailed Description

Provides taproot friendly subsystem control functionality for a mecanum drive with dimensional analysis

Member Typedef Documentation

Imu

using fang::chassis::MecanumDrive::Imu = trap::communication::sensors::IImu

Constructor & Destructor Documentation

MecanumDrive()

fang::chassis::MecanumDrive::MecanumDrive	(	Drivers &	drivers,
		std::unique_ptr< IQuadDrive >	quadDrive,
		std::unique_ptr< Imu >	imu,
		const Config &	config
	)

Parameters

quad	drive- QuadDrive to be owned by Mecanum subsystem
imu	- imu attached to the chassis
config	- see config

Member Function Documentation

initialize()

void fang::chassis::MecanumDrive::initialize ( )

overridevirtual

Called once when you add the Subsystem to the commandScheduler stored in the Drivers class.

Implements fang::chassis::HolonomicSubsystem.

Reimplemented in fang::chassis::PierceMecanumDrive.

refresh()

void fang::chassis::MecanumDrive::refresh ( )

overridevirtual

Called regularly

Reimplemented from tap::control::Subsystem.

refreshSafeDisconnect()

void fang::chassis::MecanumDrive::refreshSafeDisconnect ( )

overridevirtual

Kills functionality upon loss of remote input

Reimplemented from tap::control::Subsystem.

setTargetRotation()

void fang::chassis::MecanumDrive::setTargetRotation ( const RPM &  rotation )

override

Set the angular velocity of the chassis. Counterclockwise is positive. This is due to ensuring consistency within mathematical convention. If you are taking the horizontal joystick position, you will likely need to multiply it by -1.

setTargetTranslation()

void fang::chassis::MecanumDrive::setTargetTranslation ( const physics::Velocity2D &  translation )

override

This is relative to the field - the axis are basically wherever the robot faces forward at the start of the round

update()

void fang::chassis::MecanumDrive::update ( )

override

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

• fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/mecanum_drive/mecanum_drive.hpp
• fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/mecanum_drive/mecanum_drive.cpp