fang::chassis::BaseQuadDrive Class Reference

#include <base_quad_drive.hpp>

Inheritance diagram for fang::chassis::BaseQuadDrive:

Collaboration diagram for fang::chassis::BaseQuadDrive:

Public Types
using	Motor = motor::ISpeedMotor
using	Motors = QuadCollection< std::unique_ptr< Motor > >

Public Member Functions
	BaseQuadDrive (Drivers &drivers, std::unique_ptr< Motor > frontLeftMotor, std::unique_ptr< Motor > frontRightMotor, std::unique_ptr< Motor > rearLeftMotor, std::unique_ptr< Motor > rearRightMotor)
	BaseQuadDrive (Drivers &drivers, Motors &&motors)
virtual void	setTargetWheelSpeeds (const QuadRPM &wheelSpeeds) override
virtual void	initialize () override
virtual void	update () override
virtual void	refresh () override
virtual	~BaseQuadDrive ()
Public Member Functions inherited from fang::chassis::QuadDriveSubsystem
	QuadDriveSubsystem (tap::Drivers &drivers)
virtual	~QuadDriveSubsystem ()=default
Public Member Functions inherited from tap::control::Subsystem
	Subsystem (Drivers *drivers)
virtual	~Subsystem ()
void	registerAndInitialize ()
mockable void	setDefaultCommand (Command *defaultCommand)
mockable Command *	getDefaultCommand () const
virtual void	refreshSafeDisconnect ()
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

This provides control for a set of 4 ISpeedMotors It manages the initialization and update functionality as well.

This is often passed into a holonomic drive or tank drive to delegate managing the wheel speeds and updating each of the motors

This can be managed by a taproot command (can be registered).

Member Typedef Documentation

Motor

using fang::chassis::BaseQuadDrive::Motor = motor::ISpeedMotor

Motors

using fang::chassis::BaseQuadDrive::Motors = QuadCollection<std::unique_ptr<Motor> >

Constructor & Destructor Documentation

BaseQuadDrive() [1/2]

fang::chassis::BaseQuadDrive::BaseQuadDrive	(	Drivers &	drivers,
		std::unique_ptr< Motor >	frontLeftMotor,
		std::unique_ptr< Motor >	frontRightMotor,
		std::unique_ptr< Motor >	rearLeftMotor,
		std::unique_ptr< Motor >	rearRightMotor
	)

BaseQuadDrive() [2/2]

fang::chassis::BaseQuadDrive::BaseQuadDrive	(	Drivers &	drivers,
		Motors &&	motors
	)

Motors should be passed explicitly with move semantics to prevent memory errors. If you are unfamiliar with r-value references, since they have no name, they pop into existence the moment they are stated then pop out. This means that we do not have to worry about motors continuing to hold unto. If motors must be a named variable, cast it to an r-value reference with std::move()

~BaseQuadDrive()

virtual fang::chassis::BaseQuadDrive::~BaseQuadDrive ( )

inlinevirtual

Member Function Documentation

initialize()

void fang::chassis::BaseQuadDrive::initialize ( )

overridevirtual

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

Reimplemented from tap::control::Subsystem.

Reimplemented in fang::chassis::PowerQuadDrive.

refresh()

void fang::chassis::BaseQuadDrive::refresh ( )

overridevirtual

Called in the scheduler's run function assuming this command has been registered with the scheduler. This function should contain code that must be periodically updated and is generic to the subsystem (i.e. updating a control loop generic to this subsystem). This function should not contain command specific control code. When you create a subclass of Subsystem, you should overwrite this virtual function.

Must be virtual otherwise scheduler will refer to this function rather than looking in child for this function.

Reimplemented from tap::control::Subsystem.

Reimplemented in fang::chassis::PowerQuadDrive.

setTargetWheelSpeeds()

void fang::chassis::BaseQuadDrive::setTargetWheelSpeeds ( const QuadRPM &  wheelSpeeds )

overridevirtual

Reimplemented in fang::chassis::PowerQuadDrive.

update()

void fang::chassis::BaseQuadDrive::update ( )

overridevirtual

Reimplemented in fang::chassis::PowerQuadDrive.

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

• fang-mcb-project/src/control/chassis/drive/quad_drive/base_quad_drive/base_quad_drive.hpp
• fang-mcb-project/src/control/chassis/drive/quad_drive/base_quad_drive/base_quad_drive.cpp