A pure virtual class to define the behavior and attributes of a chassis. Classes that extend this class will default to the behavior defined here, which for all methods is to do nothing. More...

#include <Chassis.h>

Inheritance diagram for wpid::Chassis:

Public Member Functions
virtual void	setStraightPID (PID pid)=0
	Sets the straight PID object.

virtual void	setTurnPID (PID pid)=0
	Sets the turning PID object.

virtual void	straight (float distance, int max_speed)=0
	Move the chassis forward a specific distance with PID. Chassis will always stay at or below the maximum speed.

virtual void	straightAsync (float distance, int max_speed)=0
	Move the chassis forward asynchronously a specific distance with PID. Chassis will always stay at or below the maximum speed.

virtual void	turn (int target_angle, int max_speed)=0
	Turn the chassis on the spot with PID. Chassis will always stay at or below the maximum speed.

virtual void	turnAsync (float target_angle, int max_speed)=0
	Turn the chassis on the spot asynchronously with PID. Chassis will always stay at or below the maximum speed.

virtual void	stop ()=0
	Stops the chassis using the default brake mode.

virtual void	waitUntilSettled ()=0
	Waits for the robot to finish a motion.

virtual float	getLeftPosition (vex::rotationUnits units)=0
	Gets the current position of the left side of the chassis.

virtual float	getRightPosition (vex::rotationUnits units)=0
	Gets the current position of the right side of the chassis.

virtual void	resetPosition ()=0
	Reset all encoders to 0.

virtual void	setBrakeType (vex::brakeType type)=0
	Sets the brake type of the chassis.

virtual void	setMeasurementUnits (Conversion::measurement preferred_units)=0
	Set the measurement units for chassis values.

Protected Attributes
float	track_width

float	wheel_circumference

Mechanism *	left

Mechanism *	right

PID	pidStraight

PID	pidTurn

float	straight_offset = 0

float	turn_offset = 0

Conversion::measurement	measure_units = Conversion::measurement::in

Detailed Description

A pure virtual class to define the behavior and attributes of a chassis. Classes that extend this class will default to the behavior defined here, which for all methods is to do nothing.

Member Function Documentation

◆ getLeftPosition()

virtual float wpid::Chassis::getLeftPosition ( vex::rotationUnits units )

pure virtual

Gets the current position of the left side of the chassis.

Parameters

unit	the rotation units you want to return

Returns: the position in the specified units

Implemented in wpid::HDrive, and wpid::Tank.

◆ getRightPosition()

virtual float wpid::Chassis::getRightPosition ( vex::rotationUnits units )

pure virtual

Gets the current position of the right side of the chassis.

Parameters

unit	the rotation units you want to return

Returns: the position in the specified units

Implemented in wpid::HDrive, and wpid::Tank.

◆ resetPosition()

virtual void wpid::Chassis::resetPosition ( )

pure virtual

Reset all encoders to 0.

Implemented in wpid::HDrive, and wpid::Tank.

◆ setBrakeType()

virtual void wpid::Chassis::setBrakeType ( vex::brakeType type )

pure virtual

Sets the brake type of the chassis.

Parameters

type	The brake type can be set to coast, brake, or hold.

Implemented in wpid::HDrive, and wpid::Tank.

◆ setMeasurementUnits()

virtual void wpid::Chassis::setMeasurementUnits ( Conversion::measurement preferred_units )

pure virtual

Set the measurement units for chassis values.

Parameters

preferred_units the user's measurement system

Implemented in wpid::HDrive, and wpid::Tank.

◆ setStraightPID()

virtual void wpid::Chassis::setStraightPID ( PID pid )

pure virtual

Sets the straight PID object.

Parameters

pid	a PID object holding the constants for driving straight

Implemented in wpid::HDrive, and wpid::Tank.

◆ setTurnPID()

virtual void wpid::Chassis::setTurnPID ( PID pid )

pure virtual

Sets the turning PID object.

Parameters

pid	a PID object holding the constants for turning on the spot

Implemented in wpid::HDrive, and wpid::Tank.

◆ stop()

virtual void wpid::Chassis::stop ( )

pure virtual

Stops the chassis using the default brake mode.

Implemented in wpid::HDrive, and wpid::Tank.

◆ straight()

virtual void wpid::Chassis::straight	(	float	distance,
		int	max_speed
	)

pure virtual

Move the chassis forward a specific distance with PID. Chassis will always stay at or below the maximum speed.

Parameters

distance	the distance in inches
max_speed	the maximum speed the robot will travel

Implemented in wpid::HDrive, and wpid::Tank.

◆ straightAsync()

virtual void wpid::Chassis::straightAsync	(	float	distance,
		int	max_speed
	)

pure virtual

Move the chassis forward asynchronously a specific distance with PID. Chassis will always stay at or below the maximum speed.

Parameters

distance	the distance in inches
max_speed	the maximum speed the robot will travel

Implemented in wpid::HDrive, and wpid::Tank.

◆ turn()

virtual void wpid::Chassis::turn	(	int	target_angle,
		int	max_speed
	)

pure virtual

Turn the chassis on the spot with PID. Chassis will always stay at or below the maximum speed.

Parameters

target_angle	the target angle in degrees
max_speed	the maximum speed in percent units

Implemented in wpid::HDrive, and wpid::Tank.

◆ turnAsync()

virtual void wpid::Chassis::turnAsync	(	float	target_angle,
		int	max_speed
	)

pure virtual

Turn the chassis on the spot asynchronously with PID. Chassis will always stay at or below the maximum speed.

Parameters

target_angle	the target angle in degrees
max_speed	the maximum speed in percent units

Implemented in wpid::HDrive, and wpid::Tank.

◆ waitUntilSettled()

virtual void wpid::Chassis::waitUntilSettled ( )

pure virtual

Waits for the robot to finish a motion.

Implemented in wpid::HDrive, and wpid::Tank.

Member Data Documentation

◆ left

Mechanism* wpid::Chassis::left

protected

Left and Right mechanisms

◆ measure_units

Conversion::measurement wpid::Chassis::measure_units = Conversion::measurement::in

protected

The units used for distances

◆ pidStraight

PID wpid::Chassis::pidStraight

protected

PID objects for straight and turning motion

◆ straight_offset

float wpid::Chassis::straight_offset = 0

protected

Offsets to fix consistent error

◆ track_width

float wpid::Chassis::track_width

protected

Chassis track width for Tank drive

◆ wheel_circumference

float wpid::Chassis::wheel_circumference

protected

Chassis wheel circumference

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

include/WPID/Chassis/Chassis.h

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ getLeftPosition()

◆ getRightPosition()

◆ resetPosition()

◆ setBrakeType()

◆ setMeasurementUnits()

◆ setStraightPID()

◆ setTurnPID()

◆ stop()

◆ straight()

◆ straightAsync()

◆ turn()

◆ turnAsync()

◆ waitUntilSettled()

Member Data Documentation

◆ left

◆ measure_units

◆ pidStraight

◆ straight_offset

◆ track_width

◆ wheel_circumference