Abstract interface for a robot chassis. More...

#include <chassis_subsystem_interface.hpp>

Inheritance diagram for tap::control::chassis::ChassisSubsystemInterface:

Collaboration diagram for tap::control::chassis::ChassisSubsystemInterface:

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Public Member Functions
	ChassisSubsystemInterface (Drivers *drivers)

virtual int	getNumChassisMotors () const =0

virtual bool	allMotorsOnline () const =0

virtual modm::Matrix< float, 3, 1 >	getActualVelocityChassisRelative () const =0

Public Member Functions inherited from tap::control::Subsystem
	Subsystem (Drivers *drivers)

virtual	~Subsystem ()

virtual void	initialize ()

void	registerAndInitialize ()

mockable void	setDefaultCommand (Command *defaultCommand)

mockable Command *	getDefaultCommand () const

virtual void	refresh ()

virtual void	refreshSafeDisconnect ()

mockable void	setTestCommand (Command *testCommand)

mockable Command *	getTestCommand () const

virtual const char *	getName () const

mockable int	getGlobalIdentifier () const

Static Public Member Functions
static void	getVelocityWorldRelative (modm::Matrix< float, 3, 1 > &chassisRelativeVelocity, float chassisHeading)

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

Detailed Description

Abstract interface for a robot chassis.

Constructor & Destructor Documentation

◆ ChassisSubsystemInterface()

tap::control::chassis::ChassisSubsystemInterface::ChassisSubsystemInterface ( Drivers * drivers )

inline

Member Function Documentation

◆ allMotorsOnline()

virtual bool tap::control::chassis::ChassisSubsystemInterface::allMotorsOnline ( ) const

inlinepure virtual

Returns: true iff all motors are online

◆ getActualVelocityChassisRelative()

virtual modm::Matrix< float, 3, 1 > tap::control::chassis::ChassisSubsystemInterface::getActualVelocityChassisRelative ( ) const

pure virtual

Returns: The actual chassis velocity in chassis relative frame, as a vector <vx, vy, vz>, where vz is rotational velocity. This is the velocity calculated from the chassis's encoders. Units: m/s

◆ getNumChassisMotors()

virtual int tap::control::chassis::ChassisSubsystemInterface::getNumChassisMotors ( ) const

inlinepure virtual

Returns: the number of chassis motors

◆ getVelocityWorldRelative()

static void tap::control::chassis::ChassisSubsystemInterface::getVelocityWorldRelative	(	modm::Matrix< float, 3, 1 > &	chassisRelativeVelocity,
		float	chassisHeading
	)

inlinestatic

Transforms the chassis relative velocity of the form <vx, vy, vz> (where z is an orientation) into world relative frame, given some particular chassis heading (z direction, assumed to be in radians). Transforms the input matrix chassisRelativeVelocity. Units: m/s

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

fang-mcb-project/taproot/src/tap/control/chassis/chassis_subsystem_interface.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members