#include <abstract_field_mecanum_logic.hpp>

Public Types
using	AbstractQuadDriveData = AbstractQuadSpeeds

Public Member Functions
void	setMotion (const AbstractVelocity2D &translation, double rotationalOffset)

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

void	setRobotAngle (const Radians &robotAngle)

void	setTranslation (const AbstractVelocity2D &translation)

void	setRotationOffset (double rotationalOffset)

Radians	getRobotAngle () const

AbstractVelocity2D	getTranslation () const

double	getRotationOffset () const

AbstractQuadDriveData	getWheelSpeeds () const

Detailed Description

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.

Member Typedef Documentation

◆ AbstractQuadDriveData

using fang::chassis::AbstractFieldMecanumLogic::AbstractQuadDriveData = AbstractQuadSpeeds

Member Function Documentation

◆ getRobotAngle()

Radians fang::chassis::AbstractFieldMecanumLogic::getRobotAngle ( ) const

◆ getRotationOffset()

double fang::chassis::AbstractFieldMecanumLogic::getRotationOffset ( ) const

◆ getTranslation()

AbstractVelocity2D fang::chassis::AbstractFieldMecanumLogic::getTranslation ( ) const

◆ getWheelSpeeds()

AbstractQuadSpeeds fang::chassis::AbstractFieldMecanumLogic::getWheelSpeeds ( ) const

◆ setMotion()

void fang::chassis::AbstractFieldMecanumLogic::setMotion	(	const AbstractVelocity2D &	translation,
		double	rotationalOffset
	)

◆ setRobotAngle()

void fang::chassis::AbstractFieldMecanumLogic::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

◆ setRotationOffset()

void fang::chassis::AbstractFieldMecanumLogic::setRotationOffset ( double rotationalOffset )

◆ setTotalMotion()

void fang::chassis::AbstractFieldMecanumLogic::setTotalMotion	(	const AbstractVelocity2D &	translation,
		double	rotationOffset,
		const Radians &	robotAngle
	)

◆ setTranslation()

void fang::chassis::AbstractFieldMecanumLogic::setTranslation ( const AbstractVelocity2D & translation )

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

fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/logic/abstract_field_mecanum_logic.hpp
fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/logic/abstract_field_mecanum_logic.cpp

Public Types

Public Member Functions