An Tank chassis class that inherits from the Chassis virtual class. Contains functions for moving forwards and backwards, and on the spot turns. Utilizes PID for all motion. More...

#include <Tank.h>

Inheritance diagram for wpid::Tank:

Public Member Functions
	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 Tank chassis class that inherits from the Chassis virtual class. Contains functions for moving forwards and backwards, and on the spot turns. Utilizes PID for all motion.

Constructor & Destructor Documentation

◆ Tank()

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.

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

Member Function Documentation

◆ getLeftPosition()

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

overridevirtual

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

Parameters

units typically using rotationUnits::deg

Returns: float

Implements wpid::Chassis.

◆ getRightPosition()

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

overridevirtual

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

Parameters

units typically using rotationUnits::deg

Returns: float

Implements wpid::Chassis.

◆ resetPosition()

void Tank::resetPosition ( )

overridevirtual

Reset the left and right encoders to 0.

Implements wpid::Chassis.

◆ setBrakeType()

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

overridevirtual

Sets the brake type of the chassis by passing a brake type as a parameter.

Parameters

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

Implements wpid::Chassis.

◆ setMaxAcceleration()

void Tank::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.

Parameters

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

◆ setMeasurementUnits()

void Tank::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 Tank::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.

Parameters

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

◆ setStraightPID()

void Tank::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 Tank::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 Tank::setTurnPID ( PID pid )

overridevirtual

Sets the turning PID constants.

Parameters

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

Implements wpid::Chassis.

◆ spin() [1/2]

void Tank::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.

Parameters

left_velocity	the left side velocity in percent units
right_velocity	the right side velocity in percent units

◆ spin() [2/2]

void Tank::spin ( int velocity )

Spin the entire chassis by specified velocities for both sides.

Parameters

velocity the velocity in percent units

◆ stop()

void Tank::stop ( )

overridevirtual

Stops the chassis using the default brake mode.

Implements wpid::Chassis.

◆ straight()

void Tank::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 Tank::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 Tank::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 Tank::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 Tank::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/Tank.h
src/WPID/Chassis/Tank.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Tank()

Member Function Documentation

◆ getLeftPosition()

◆ getRightPosition()

◆ resetPosition()

◆ setBrakeType()

◆ setMaxAcceleration()

◆ setMeasurementUnits()

◆ setOffset()

◆ setStraightPID()

◆ setTimeout()

◆ setTurnPID()

◆ spin() [1/2]

◆ spin() [2/2]

◆ stop()

◆ straight()

◆ straightAsync()

◆ turn()

◆ turnAsync()

◆ waitUntilSettled()