okapi::ChassisControllerIntegrated class

#include <include/okapi/api/chassis/controller/chassisControllerIntegrated.hpp>

Base classes

class ChassisController

Constructors, destructors, conversion operators

ChassisControllerIntegrated(const TimeUtil& itimeUtil, std::shared_ptr<ChassisModel> imodel, std::unique_ptr<AsyncPosIntegratedController> ileftController, std::unique_ptr<AsyncPosIntegratedController> irightController, const AbstractMotor::GearsetRatioPair& igearset = AbstractMotor::gearset::green, const ChassisScales& iscales = ChassisScales({1, 1}, imev5GreenTPR), std::shared_ptr<Logger> ilogger = Logger::getDefaultLogger())

ChassisController using the V5 motor's integrated control.

Public functions

void moveDistance(QLength itarget) override

Drives the robot straight for a distance (using closed-loop control).

void moveRaw(double itarget) override

Drives the robot straight for a distance (using closed-loop control).

void moveDistanceAsync(QLength itarget) override

Sets the target distance for the robot to drive straight (using closed-loop control).

void moveRawAsync(double itarget) override

Sets the target distance for the robot to drive straight (using closed-loop control).

void turnAngle(QAngle idegTarget) override

Turns the robot clockwise in place (using closed-loop control).

void turnRaw(double idegTarget) override

Turns the robot clockwise in place (using closed-loop control).

void turnAngleAsync(QAngle idegTarget) override

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void turnRawAsync(double idegTarget) override

Sets the target angle for the robot to turn clockwise in place (using closed-loop control).

void setTurnsMirrored(bool ishouldMirror) override

Sets whether turns should be mirrored.

auto isSettled() -> bool override

Checks whether the internal controllers are currently settled.

void waitUntilSettled() override

Delays until the currently executing movement completes.

void stop() override

Interrupts the current movement to stop the robot.

auto getChassisScales() const -> ChassisScales override

Get the ChassisScales.

auto getGearsetRatioPair() const -> AbstractMotor::GearsetRatioPair override

Get the GearsetRatioPair.

auto getModel() -> std::shared_ptr<ChassisModel> override

auto model() -> ChassisModel& override

void setMaxVelocity(double imaxVelocity) override

Sets a new maximum velocity in RPM [0-600].

auto getMaxVelocity() const -> double override

Protected variables

std::shared_ptr<Logger> logger

bool normalTurns

std::shared_ptr<ChassisModel> chassisModel

TimeUtil timeUtil

std::unique_ptr<AsyncPosIntegratedController> leftController

std::unique_ptr<AsyncPosIntegratedController> rightController

int lastTarget

ChassisScales scales

AbstractMotor::GearsetRatioPair gearsetRatioPair

Function documentation

// Drive forward 6 inches
chassis->moveDistance(6_in);

// Drive backward 0.2 meters
chassis->moveDistance(-0.2_m);

// Drive forward by spinning the motors 400 degrees
chassis->moveRaw(400);

// Turn 90 degrees clockwise
chassis->turnAngle(90_deg);

// Turn clockwise by spinning the motors 200 degrees
chassis->turnRaw(200);