okapi::ChassisControllerBuilder class
#include <include/okapi/impl/chassis/controller/chassisControllerBuilder.hpp>

Contents

Constructors, destructors, conversion operators

ChassisControllerBuilder(const std::shared_ptr<Logger>& ilogger = Logger::getDefaultLogger()) explicit
A builder that creates ChassisControllers.

Public functions

auto withMotors(const Motor& ileft, const Motor& iright) -> ChassisControllerBuilder&
Sets the motors using a skid-steer layout.
auto withMotors(const MotorGroup& ileft, const MotorGroup& iright) -> ChassisControllerBuilder&
Sets the motors using a skid-steer layout.
auto withMotors(const std::shared_ptr<AbstractMotor>& ileft, const std::shared_ptr<AbstractMotor>& iright) -> ChassisControllerBuilder&
Sets the motors using a skid-steer layout.
auto withMotors(const Motor& itopLeft, const Motor& itopRight, const Motor& ibottomRight, const Motor& ibottomLeft) -> ChassisControllerBuilder&
Sets the motors using an x-drive layout.
auto withMotors(const MotorGroup& itopLeft, const MotorGroup& itopRight, const MotorGroup& ibottomRight, const MotorGroup& ibottomLeft) -> ChassisControllerBuilder&
Sets the motors using an x-drive layout.
auto withMotors(const std::shared_ptr<AbstractMotor>& itopLeft, const std::shared_ptr<AbstractMotor>& itopRight, const std::shared_ptr<AbstractMotor>& ibottomRight, const std::shared_ptr<AbstractMotor>& ibottomLeft) -> ChassisControllerBuilder&
Sets the motors using an x-drive layout.
auto withMotors(const Motor& ileft, const Motor& iright, const Motor& imiddle) -> ChassisControllerBuilder&
Sets the motors using an h-drive layout.
auto withMotors(const MotorGroup& ileft, const MotorGroup& iright, const MotorGroup& imiddle) -> ChassisControllerBuilder&
Sets the motors using an h-drive layout.
auto withMotors(const MotorGroup& ileft, const MotorGroup& iright, const Motor& imiddle) -> ChassisControllerBuilder&
Sets the motors using an h-drive layout.
auto withMotors(const std::shared_ptr<AbstractMotor>& ileft, const std::shared_ptr<AbstractMotor>& iright, const std::shared_ptr<AbstractMotor>& imiddle) -> ChassisControllerBuilder&
Sets the motors using an h-drive layout.
auto withSensors(const ADIEncoder& ileft, const ADIEncoder& iright) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const ADIEncoder& ileft, const ADIEncoder& iright, const ADIEncoder& imiddle) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const RotationSensor& ileft, const RotationSensor& iright) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const RotationSensor& ileft, const RotationSensor& iright, const RotationSensor& imiddle) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const IntegratedEncoder& ileft, const IntegratedEncoder& iright) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const IntegratedEncoder& ileft, const IntegratedEncoder& iright, const ADIEncoder& imiddle) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const std::shared_ptr<ContinuousRotarySensor>& ileft, const std::shared_ptr<ContinuousRotarySensor>& iright) -> ChassisControllerBuilder&
Sets the sensors.
auto withSensors(const std::shared_ptr<ContinuousRotarySensor>& ileft, const std::shared_ptr<ContinuousRotarySensor>& iright, const std::shared_ptr<ContinuousRotarySensor>& imiddle) -> ChassisControllerBuilder&
Sets the sensors.
auto withGains(const IterativePosPIDController::Gains& idistanceGains, const IterativePosPIDController::Gains& iturnGains) -> ChassisControllerBuilder&
Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.
auto withGains(const IterativePosPIDController::Gains& idistanceGains, const IterativePosPIDController::Gains& iturnGains, const IterativePosPIDController::Gains& iangleGains) -> ChassisControllerBuilder&
Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.
auto withOdometry(const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg) -> ChassisControllerBuilder&
Sets the odometry information, causing the builder to generate an Odometry variant.
auto withOdometry(const ChassisScales& iodomScales, const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg) -> ChassisControllerBuilder&
Sets the odometry information, causing the builder to generate an Odometry variant.
auto withOdometry(std::shared_ptr<Odometry> iodometry, const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg) -> ChassisControllerBuilder&
Sets the odometry information, causing the builder to generate an Odometry variant.
auto withDerivativeFilters(std::unique_ptr<Filter> idistanceFilter, std::unique_ptr<Filter> iturnFilter = std::make_unique<PassthroughFilter>(), std::unique_ptr<Filter> iangleFilter = std::make_unique<PassthroughFilter>()) -> ChassisControllerBuilder&
Sets the derivative filters.
auto withDimensions(const AbstractMotor::GearsetRatioPair& igearset, const ChassisScales& iscales) -> ChassisControllerBuilder&
Sets the chassis dimensions.
auto withMaxVelocity(double imaxVelocity) -> ChassisControllerBuilder&
Sets the max velocity.
auto withMaxVoltage(double imaxVoltage) -> ChassisControllerBuilder&
Sets the max voltage.
auto withChassisControllerTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory) -> ChassisControllerBuilder&
Sets the TimeUtilFactory used when building a ChassisController.
auto withClosedLoopControllerTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory) -> ChassisControllerBuilder&
Sets the TimeUtilFactory used when building a ClosedLoopController.
auto withClosedLoopControllerTimeUtil(double iatTargetError = 50, double iatTargetDerivative = 5, const QTime& iatTargetTime = 250_ms) -> ChassisControllerBuilder&
Creates a new ConfigurableTimeUtilFactory with the given parameters.
auto withOdometryTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory) -> ChassisControllerBuilder&
Sets the TimeUtilFactory used when building an Odometry.
auto withLogger(const std::shared_ptr<Logger>& ilogger) -> ChassisControllerBuilder&
Sets the logger used for the ChassisController and ClosedLoopControllers.
auto parentedToCurrentTask() -> ChassisControllerBuilder&
Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.
auto notParentedToCurrentTask() -> ChassisControllerBuilder&
Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.
auto build() -> std::shared_ptr<ChassisController>
Builds the ChassisController.
auto buildOdometry() -> std::shared_ptr<OdomChassisController>
Builds the OdomChassisController.

Function documentation

okapi::ChassisControllerBuilder::ChassisControllerBuilder(const std::shared_ptr<Logger>& ilogger = Logger::getDefaultLogger()) explicit

A builder that creates ChassisControllers.

Parameters
ilogger The logger this instance will log to.

Use this to create your ChassisController.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const Motor& ileft, const Motor& iright)

Sets the motors using a skid-steer layout.

Parameters
ileft The left motor.
iright The right motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const MotorGroup& ileft, const MotorGroup& iright)

Sets the motors using a skid-steer layout.

Parameters
ileft The left motor.
iright The right motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const std::shared_ptr<AbstractMotor>& ileft, const std::shared_ptr<AbstractMotor>& iright)

Sets the motors using a skid-steer layout.

Parameters
ileft The left motor.
iright The right motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const Motor& itopLeft, const Motor& itopRight, const Motor& ibottomRight, const Motor& ibottomLeft)

Sets the motors using an x-drive layout.

Parameters
itopLeft The top left motor.
itopRight The top right motor.
ibottomRight The bottom right motor.
ibottomLeft The bottom left motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const MotorGroup& itopLeft, const MotorGroup& itopRight, const MotorGroup& ibottomRight, const MotorGroup& ibottomLeft)

Sets the motors using an x-drive layout.

Parameters
itopLeft The top left motor.
itopRight The top right motor.
ibottomRight The bottom right motor.
ibottomLeft The bottom left motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const std::shared_ptr<AbstractMotor>& itopLeft, const std::shared_ptr<AbstractMotor>& itopRight, const std::shared_ptr<AbstractMotor>& ibottomRight, const std::shared_ptr<AbstractMotor>& ibottomLeft)

Sets the motors using an x-drive layout.

Parameters
itopLeft The top left motor.
itopRight The top right motor.
ibottomRight The bottom right motor.
ibottomLeft The bottom left motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const Motor& ileft, const Motor& iright, const Motor& imiddle)

Sets the motors using an h-drive layout.

Parameters
ileft The left motor.
iright The right motor.
imiddle The middle motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const MotorGroup& ileft, const MotorGroup& iright, const MotorGroup& imiddle)

Sets the motors using an h-drive layout.

Parameters
ileft The left motor.
iright The right motor.
imiddle The middle motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const MotorGroup& ileft, const MotorGroup& iright, const Motor& imiddle)

Sets the motors using an h-drive layout.

Parameters
ileft The left motor.
iright The right motor.
imiddle The middle motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMotors(const std::shared_ptr<AbstractMotor>& ileft, const std::shared_ptr<AbstractMotor>& iright, const std::shared_ptr<AbstractMotor>& imiddle)

Sets the motors using an h-drive layout.

Parameters
ileft The left motor.
iright The right motor.
imiddle The middle motor.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const ADIEncoder& ileft, const ADIEncoder& iright)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const ADIEncoder& ileft, const ADIEncoder& iright, const ADIEncoder& imiddle)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
imiddle The middle sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const RotationSensor& ileft, const RotationSensor& iright)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const RotationSensor& ileft, const RotationSensor& iright, const RotationSensor& imiddle)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
imiddle The middle sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const IntegratedEncoder& ileft, const IntegratedEncoder& iright)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const IntegratedEncoder& ileft, const IntegratedEncoder& iright, const ADIEncoder& imiddle)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
imiddle The middle sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const std::shared_ptr<ContinuousRotarySensor>& ileft, const std::shared_ptr<ContinuousRotarySensor>& iright)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withSensors(const std::shared_ptr<ContinuousRotarySensor>& ileft, const std::shared_ptr<ContinuousRotarySensor>& iright, const std::shared_ptr<ContinuousRotarySensor>& imiddle)

Sets the sensors.

Parameters
ileft The left side sensor.
iright The right side sensor.
imiddle The middle sensor.
Returns An ongoing builder.

The default sensors are the motor's integrated encoders.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withGains(const IterativePosPIDController::Gains& idistanceGains, const IterativePosPIDController::Gains& iturnGains)

Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

Parameters
idistanceGains The distance controller's gains.
iturnGains The turn controller's gains.
Returns An ongoing builder.

Uses the turn controller's gains for the angle controller's gains.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withGains(const IterativePosPIDController::Gains& idistanceGains, const IterativePosPIDController::Gains& iturnGains, const IterativePosPIDController::Gains& iangleGains)

Sets the PID controller gains, causing the builder to generate a ChassisControllerPID.

Parameters
idistanceGains The distance controller's gains.
iturnGains The turn controller's gains.
iangleGains The angle controller's gains.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withOdometry(const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters
imode The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold The minimum length movement.
iturnThreshold The minimum angle turn.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withOdometry(const ChassisScales& iodomScales, const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters
iodomScales The ChassisScales used just for odometry (if they are different than those for the drive).
imode The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold The minimum length movement.
iturnThreshold The minimum angle turn.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withOdometry(std::shared_ptr<Odometry> iodometry, const StateMode& imode = StateMode::FRAME_TRANSFORMATION, const QLength& imoveThreshold = 0_mm, const QAngle& iturnThreshold = 0_deg)

Sets the odometry information, causing the builder to generate an Odometry variant.

Parameters
iodometry The odometry object.
imode The new default StateMode used to interpret target points and query the Odometry state.
imoveThreshold The minimum length movement.
iturnThreshold The minimum angle turn.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withDerivativeFilters(std::unique_ptr<Filter> idistanceFilter, std::unique_ptr<Filter> iturnFilter = std::make_unique<PassthroughFilter>(), std::unique_ptr<Filter> iangleFilter = std::make_unique<PassthroughFilter>())

Sets the derivative filters.

Parameters
idistanceFilter The distance controller's filter.
iturnFilter The turn controller's filter.
iangleFilter The angle controller's filter.
Returns An ongoing builder.

Uses a PassthroughFilter by default.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withDimensions(const AbstractMotor::GearsetRatioPair& igearset, const ChassisScales& iscales)

Sets the chassis dimensions.

Parameters
igearset The gearset in the drive motors.
iscales The ChassisScales for the base.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMaxVelocity(double imaxVelocity)

Sets the max velocity.

Parameters
imaxVelocity The max velocity.
Returns An ongoing builder.

Overrides the max velocity of the gearset.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withMaxVoltage(double imaxVoltage)

Sets the max voltage.

Parameters
imaxVoltage The max voltage.
Returns An ongoing builder.

The default is 12000.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withChassisControllerTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory)

Sets the TimeUtilFactory used when building a ChassisController.

Parameters
itimeUtilFactory The TimeUtilFactory.
Returns An ongoing builder.

This instance will be given to the ChassisController (not to controllers it uses). The default is the static TimeUtilFactory.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withClosedLoopControllerTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory)

Sets the TimeUtilFactory used when building a ClosedLoopController.

Parameters
itimeUtilFactory The TimeUtilFactory.
Returns An ongoing builder.

This instance will be given to any ClosedLoopController instances. The default is the static TimeUtilFactory.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withClosedLoopControllerTimeUtil(double iatTargetError = 50, double iatTargetDerivative = 5, const QTime& iatTargetTime = 250_ms)

Creates a new ConfigurableTimeUtilFactory with the given parameters.

Parameters
iatTargetError The minimum error to be considered settled.
iatTargetDerivative The minimum error derivative to be considered settled.
iatTargetTime The minimum time within atTargetError to be considered settled.
Returns An ongoing builder.

Given to any ClosedLoopController instances.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withOdometryTimeUtilFactory(const TimeUtilFactory& itimeUtilFactory)

Sets the TimeUtilFactory used when building an Odometry.

Parameters
itimeUtilFactory The TimeUtilFactory.
Returns An ongoing builder.

The default is the static TimeUtilFactory.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::withLogger(const std::shared_ptr<Logger>& ilogger)

Sets the logger used for the ChassisController and ClosedLoopControllers.

Parameters
ilogger The logger.
Returns An ongoing builder.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::parentedToCurrentTask()

Parents the internal tasks started by this builder to the current task, meaning they will be deleted once the current task is deleted.

Returns An ongoing builder.

The initialize and competition_initialize tasks are never parented to. This is the default behavior.

Read more about this in the builders and tasks tutorial.

ChassisControllerBuilder& okapi::ChassisControllerBuilder::notParentedToCurrentTask()

Prevents parenting the internal tasks started by this builder to the current task, meaning they will not be deleted once the current task is deleted.

Returns An ongoing builder.

This can cause runaway tasks, but is sometimes the desired behavior (e.x., if you want to use this builder once in autonomous and then again in opcontrol).

Read more about this in the builders and tasks tutorial.

std::shared_ptr<ChassisController> okapi::ChassisControllerBuilder::build()

Builds the ChassisController.

Returns A fully built ChassisController.

Throws a std::runtime_exception if no motors were set or if no dimensions were set.

std::shared_ptr<OdomChassisController> okapi::ChassisControllerBuilder::buildOdometry()

Builds the OdomChassisController.

Returns A fully built OdomChassisController.

Throws a std::runtime_exception if no motors were set, if no dimensions were set, or if no odometry information was passed.