An HDrive chassis class that inherits from the Tank class. Contains functions for strafing sideways, and moving diagonally along with all Tank related motion. Utilizes PID for all motion. More...

#include <HDrive.h>

Inheritance diagram for wpid::HDrive:

Public Member Functions
	HDrive (float track_width, float wheel_radius, float center_wheel_radius, vex::motor_group left, vex::motor_group right, vex::motor_group center, float drive_gear_ratio)
	Construct a new HDrive object.

void	setStraightPID (PID pid) override
	Sets the straight PID object.

void	setTurnPID (PID pid) override
	Sets the turning PID object.

void	setStrafePID (PID pid)
	Sets the strafing PID object.

void	spin (int left_velocity, int right_velocity, int center_velocity)
	Spin the entire chassis by specified velocities for each side of the chassis. Negative values spin the wheel backwards.

void	spin (int sides, int center)
	Spin the entire chassis by specified velocities for each side of the chassis. Negative values spin the wheel backwards.

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

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

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

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

void	strafe (float distance, int max_speed)
	Strafe the chassis sideways with PID. Chassis will always stay at or below the maximum speed.

void	strafeAsync (float distance, int max_speed)
	Strafe the chassis sideways asynchronously with PID. Chassis will always stay at or below the maximum speed.

void	diagonal (float straight_distance, float strafe_distance, int straight_max_speed)
	Move the chassis on a diagonal a specific distance with PID. Chassis will always stay at or below the maximum speed. The speed of the center wheel is calculated in the function as being proportional to the distance traveled. If the straight distance is 100, and center is 30, the center wheel will spin at 30% the speed of straight_max_speed.

void	diagonalAsync (float straight_distance, float strafe_distance, int straight_max_speed)
	Move the chassis on a diagonal asynchronously a specific distance with PID. Chassis will always stay at or below the maximum speed. The speed of the center wheel is calculated in the function as being proportional to the distance traveled. If the straight distance is 100, and center is 30, the center wheel will spin at 30% the speed of straight_max_speed.

void	stop () override
	Stops the chassis using the default brake mode.

void	waitUntilSettled () override
	Waits for the robot to finish a motion.

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

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

float	getCenterPosition (vex::rotationUnits units)
	Gets the current position of the center wheel of the chassis.

void	resetPosition () override
	Reset all encoders to 0.

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

void	setMaxAcceleration (float straight_max_accel, float c_max_accel)
	Set the max acceleration of the chassis. Every time the PID loop executes, it increments the speed of the mechanism by this value until the mechanism reaches it's maximum speed. Increase the value if the robot is ramping too slow, or decrease if it causes too much jerk.

void	setOffset (float straight, float turn, float strafe)
	Set the offset for the straight and turn functions. This value is in inches, and will add to the input of each movement function.

void	setTimeout (int timeout)
	Set the timeout to use for PID movement. If the timeout is exceeded, the system will stop regardless of the current error or speed. A value of -1 will disable timeouts.

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

Public Member Functions inherited from wpid::Tank
	Tank (float track_width, float wheel_radius, vex::motor_group left, vex::motor_group right, float drive_gear_ratio)
	Construct a new Tank object.

void	setStraightPID (PID pid) override
	Sets the straight PID object.

void	setTurnPID (PID pid) override
	Sets the turning PID constants.

void	spin (int left_velocity, int right_velocity)
	Spin the entire chassis by specified velocities for each side of the chassis. Negative values spin the wheel backwards.

void	spin (int velocity)
	Spin the entire chassis by specified velocities for both sides.

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

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

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

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

void	stop () override
	Stops the chassis using the default brake mode.

void	waitUntilSettled () override
	Waits for the robot to finish a motion.

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

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

void	resetPosition () override
	Reset the left and right encoders to 0.

void	setBrakeType (vex::brakeType type) override
	Sets the brake type of the chassis by passing a brake type as a parameter.

void	setMaxAcceleration (float max_accel)
	Set the max acceleration of the chassis. Every time the PID loop executes, it increments the speed of the mechanism by this value until the mechanism reaches it's maximum speed. Increase the value if the robot is ramping too slow, or decrease if it causes too much jerk.

void	setOffset (float straight, float turn)
	Set the offset for the straight and turn functions. This value is in inches, and will add to the input of each movement function.

void	setTimeout (int timeout)
	Set the timeout to use for PID movement. If the timeout is exceeded, the system will stop regardless of the current error or speed. A value of -1 will disable timeouts.

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

Additional Inherited Members
Protected Attributes inherited from wpid::Chassis
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

An HDrive chassis class that inherits from the Tank class. Contains functions for strafing sideways, and moving diagonally along with all Tank related motion. Utilizes PID for all motion.

Constructor & Destructor Documentation

◆ HDrive()

HDrive::HDrive	(	float	track_width,
		float	wheel_radius,
		float	center_wheel_radius,
		vex::motor_group	left,
		vex::motor_group	right,
		vex::motor_group	center,
		float	drive_gear_ratio
	)

Construct a new HDrive object.

Parameters

track_width	the width between left and right
wheel_base	the distance from front to back of the wheel
wheel_radius	radius of the wheel
left	motor group
right	motor group
center	motor group
drive_gear_ratio	the internal gear-set of the drive train

Member Function Documentation

◆ diagonal()

void HDrive::diagonal	(	float	straight_distance,
		float	strafe_distance,
		int	straight_max_speed
	)

Move the chassis on a diagonal a specific distance with PID. Chassis will always stay at or below the maximum speed. The speed of the center wheel is calculated in the function as being proportional to the distance traveled. If the straight distance is 100, and center is 30, the center wheel will spin at 30% the speed of straight_max_speed.

Parameters

straight_distance	the distance going forward or backwards in inches
strafe_distance	the distance going sideways in inches
straight_max_speed	the maximum speed the robot will travel in percent units

◆ diagonalAsync()

void HDrive::diagonalAsync	(	float	straight_distance,
		float	strafe_distance,
		int	straight_max_speed
	)

Move the chassis on a diagonal asynchronously a specific distance with PID. Chassis will always stay at or below the maximum speed. The speed of the center wheel is calculated in the function as being proportional to the distance traveled. If the straight distance is 100, and center is 30, the center wheel will spin at 30% the speed of straight_max_speed.

Parameters

straight_distance	the distance going forward or backwards in inches
strafe_distance	the distance going sideways in inches
straight_max_speed	the maximum speed the robot will travel in percent units

◆ getCenterPosition()

float HDrive::getCenterPosition ( vex::rotationUnits units )

Gets the current position of the center wheel of the chassis.

Parameters

unit	the rotation units you want to return

Returns: the position in the specified units

◆ getLeftPosition()

float HDrive::getLeftPosition ( vex::rotationUnits units )

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

Implements wpid::Chassis.

◆ getRightPosition()

float HDrive::getRightPosition ( vex::rotationUnits units )

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

Implements wpid::Chassis.

◆ resetPosition()

void HDrive::resetPosition ( )

overridevirtual

Reset all encoders to 0.

Implements wpid::Chassis.

◆ setBrakeType()

void HDrive::setBrakeType ( vex::brakeType type )

virtual

Sets the brake type of the chassis.

Parameters

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

Implements wpid::Chassis.

◆ setMaxAcceleration()

void HDrive::setMaxAcceleration	(	float	straight_max_accel,
		float	c_max_accel
	)

Set the max acceleration of the chassis. Every time the PID loop executes, it increments the speed of the mechanism by this value until the mechanism reaches it's maximum speed. Increase the value if the robot is ramping too slow, or decrease if it causes too much jerk.

Parameters

max_accel a value to increment to ramp the speed up in velocityUnits::pct

◆ setMeasurementUnits()

void HDrive::setMeasurementUnits ( Conversion::measurement preferred_units )

virtual

Set the measurement units for chassis values.

Parameters

preferred_units the user's measurement system

Implements wpid::Chassis.

◆ setOffset()

void HDrive::setOffset	(	float	straight,
		float	turn,
		float	strafe
	)

Set the offset for the straight and turn functions. This value is in inches, and will add to the input of each movement function.

Parameters

straight	the distance to offset straight motion in distance units
turn	the angle to offset turns in degrees
strafe	the distance to offset strafe motion in distance units

◆ setStrafePID()

void HDrive::setStrafePID ( PID pid )

Sets the strafing PID object.

Parameters

pid	a PID object holding the constants for strafing sideways

◆ setStraightPID()

void HDrive::setStraightPID ( PID pid )

overridevirtual

Sets the straight PID object.

Parameters

pid	a PID object holding the constants for driving straight

Implements wpid::Chassis.

◆ setTimeout()

void HDrive::setTimeout ( int timeout )

Set the timeout to use for PID movement. If the timeout is exceeded, the system will stop regardless of the current error or speed. A value of -1 will disable timeouts.

Parameters

timeout in milliseconds

◆ setTurnPID()

void HDrive::setTurnPID ( PID pid )

overridevirtual

Sets the turning PID object.

Parameters

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

Implements wpid::Chassis.

◆ spin() [1/2]

void HDrive::spin	(	int	left_velocity,
		int	right_velocity,
		int	center_velocity
	)

Spin the entire chassis by specified velocities for each side of the chassis. Negative values spin the wheel backwards.

Parameters

left_velocity	the left side velocity in percent units
right_velocity	the right side velocity in percent units
center_velocity	the center wheel velocity in percent units

◆ spin() [2/2]

void HDrive::spin	(	int	sides,
		int	center
	)

Spin the entire chassis by specified velocities for each side of the chassis. Negative values spin the wheel backwards.

Parameters

sides	the side wheels' velocity in percent units
center	the center wheel velocity in percent units

◆ stop()

void HDrive::stop ( )

overridevirtual

Stops the chassis using the default brake mode.

Implements wpid::Chassis.

◆ strafe()

void HDrive::strafe	(	float	distance,
		int	max_speed
	)

Strafe the chassis sideways with PID. Chassis will always stay at or below the maximum speed.

Parameters

distance	the distance to travel in inches
max_speed	the maximum speed in percent units

◆ strafeAsync()

void HDrive::strafeAsync	(	float	distance,
		int	max_speed
	)

Strafe the chassis sideways asynchronously with PID. Chassis will always stay at or below the maximum speed.

Parameters

distance	the distance to travel in inches
max_speed	the maximum speed in percent units

◆ straight()

void HDrive::straight	(	float	distance,
		int	max_speed
	)

overridevirtual

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 in percent units

Implements wpid::Chassis.

◆ straightAsync()

void HDrive::straightAsync	(	float	distance,
		int	max_speed
	)

overridevirtual

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 in percent units

Implements wpid::Chassis.

◆ turn()

void HDrive::turn	(	int	target_angle,
		int	max_speed
	)

overridevirtual

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

Implements wpid::Chassis.

◆ turnAsync()

void HDrive::turnAsync	(	float	target_angle,
		int	max_speed
	)

overridevirtual

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

Implements wpid::Chassis.

◆ waitUntilSettled()

void HDrive::waitUntilSettled ( )

overridevirtual

Waits for the robot to finish a motion.

Implements wpid::Chassis.

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

include/WPID/Chassis/HDrive.h
src/WPID/Chassis/HDrive.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HDrive()

Member Function Documentation

◆ diagonal()

◆ diagonalAsync()

◆ getCenterPosition()

◆ getLeftPosition()

◆ getRightPosition()

◆ resetPosition()

◆ setBrakeType()

◆ setMaxAcceleration()

◆ setMeasurementUnits()

◆ setOffset()

◆ setStrafePID()

◆ setStraightPID()

◆ setTimeout()

◆ setTurnPID()

◆ spin() [1/2]

◆ spin() [2/2]

◆ stop()

◆ strafe()

◆ strafeAsync()

◆ straight()

◆ straightAsync()

◆ turn()

◆ turnAsync()

◆ waitUntilSettled()