okapi::XDriveModel class
#include <include/okapi/api/chassis/model/xDriveModel.hpp>

Contents

Base classes

class ChassisModel
A version of the ReadOnlyChassisModel that also supports write methods, such as setting motor speed.

Derived classes

class ThreeEncoderXDriveModel

Constructors, destructors, conversion operators

XDriveModel(std::shared_ptr<AbstractMotor> itopLeftMotor, std::shared_ptr<AbstractMotor> itopRightMotor, std::shared_ptr<AbstractMotor> ibottomRightMotor, std::shared_ptr<AbstractMotor> ibottomLeftMotor, std::shared_ptr<ContinuousRotarySensor> ileftEnc, std::shared_ptr<ContinuousRotarySensor> irightEnc, double imaxVelocity, double imaxVoltage)
Model for an x drive (wheels at 45 deg from a skid steer drive).

Public functions

void forward(double ipower) override
Drive the robot forwards (using open-loop control).
void driveVector(double iforwardSpeed, double iyaw) override
Drive the robot in an arc (using open-loop control).
void driveVectorVoltage(double iforwardSpeed, double iyaw) override
Drive the robot in an arc.
void rotate(double ipower) override
Turn the robot clockwise (using open-loop control).
void strafe(double ipower)
Drive the robot side-ways (using open-loop control) where positive ipower is to the right and negative ipower is to the left.
void strafeVector(double istrafeSpeed, double iyaw)
Strafe the robot in an arc (using open-loop control) where positive istrafeSpeed is to the right and negative istrafeSpeed is to the left.
void stop() override
Stop the robot (set all the motors to 0).
void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) override
Drive the robot with a tank drive layout.
void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) override
Drive the robot with an arcade drive layout.
void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) override
Drive the robot with a curvature drive layout.
void xArcade(double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold = 0) virtual
Drive the robot with an arcade drive layout.
void fieldOrientedXArcade(double ixSpeed, double iySpeed, double iyaw, QAngle iangle, double ithreshold = 0) virtual
Drive the robot with a field-oriented arcade drive layout.
void left(double ispeed) override
Power the left side motors.
void right(double ispeed) override
Power the right side motors.
auto getSensorVals() const -> std::valarray<std::int32_t> override
Read the sensors.
void resetSensors() override
Reset the sensors to their zero point.
void setBrakeMode(AbstractMotor::brakeMode mode) override
Set the brake mode for each motor.
void setEncoderUnits(AbstractMotor::encoderUnits units) override
Set the encoder units for each motor.
void setGearing(AbstractMotor::gearset gearset) override
Set the gearset for each motor.
void setMaxVelocity(double imaxVelocity) override
Sets a new maximum velocity in RPM.
auto getMaxVelocity() const -> double override
void setMaxVoltage(double imaxVoltage) override
Sets a new maximum voltage in mV in the range [0-12000].
auto getMaxVoltage() const -> double override
auto getTopLeftMotor() const -> std::shared_ptr<AbstractMotor>
Returns the top left motor.
auto getTopRightMotor() const -> std::shared_ptr<AbstractMotor>
Returns the top right motor.
auto getBottomRightMotor() const -> std::shared_ptr<AbstractMotor>
Returns the bottom right motor.
auto getBottomLeftMotor() const -> std::shared_ptr<AbstractMotor>
Returns the bottom left motor.

Protected variables

double maxVelocity
double maxVoltage
std::shared_ptr<AbstractMotor> topLeftMotor
std::shared_ptr<AbstractMotor> topRightMotor
std::shared_ptr<AbstractMotor> bottomRightMotor
std::shared_ptr<AbstractMotor> bottomLeftMotor
std::shared_ptr<ContinuousRotarySensor> leftSensor
std::shared_ptr<ContinuousRotarySensor> rightSensor

Function documentation

okapi::XDriveModel::XDriveModel(std::shared_ptr<AbstractMotor> itopLeftMotor, std::shared_ptr<AbstractMotor> itopRightMotor, std::shared_ptr<AbstractMotor> ibottomRightMotor, std::shared_ptr<AbstractMotor> ibottomLeftMotor, std::shared_ptr<ContinuousRotarySensor> ileftEnc, std::shared_ptr<ContinuousRotarySensor> irightEnc, double imaxVelocity, double imaxVoltage)

Model for an x drive (wheels at 45 deg from a skid steer drive).

Parameters
itopLeftMotor The top left motor.
itopRightMotor The top right motor.
ibottomRightMotor The bottom right motor.
ibottomLeftMotor The bottom left motor.
ileftEnc The left side encoder.
irightEnc The right side encoder.
imaxVelocity
imaxVoltage

When all motors are powered +100%, the robot should move forward in a straight line.

void okapi::XDriveModel::forward(double ipower) override

Drive the robot forwards (using open-loop control).

Uses velocity mode.

void okapi::XDriveModel::driveVector(double iforwardSpeed, double iyaw) override

Drive the robot in an arc (using open-loop control).

Parameters
iforwardSpeed speed in the forward direction
iyaw speed around the vertical axis

Uses velocity mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

void okapi::XDriveModel::driveVectorVoltage(double iforwardSpeed, double iyaw) override

Drive the robot in an arc.

Parameters
iforwardSpeed
iyaw speed around the vertical axis

Uses voltage mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

void okapi::XDriveModel::rotate(double ipower) override

Turn the robot clockwise (using open-loop control).

Parameters
ipower motor power

Uses velocity mode.

void okapi::XDriveModel::strafe(double ipower)

Drive the robot side-ways (using open-loop control) where positive ipower is to the right and negative ipower is to the left.

Uses velocity mode.

void okapi::XDriveModel::strafeVector(double istrafeSpeed, double iyaw)

Strafe the robot in an arc (using open-loop control) where positive istrafeSpeed is to the right and negative istrafeSpeed is to the left.

Parameters
istrafeSpeed speed to the right
iyaw speed around the vertical axis

Uses velocity mode. The algorithm is (approximately): topLeftPower = -1 * istrafeSpeed + yaw topRightPower = istrafeSpeed - yaw bottomRightPower = -1 * istrafeSpeed - yaw bottomLeftPower = istrafeSpeed + yaw

void okapi::XDriveModel::stop() override

Stop the robot (set all the motors to 0).

Uses velocity mode.

void okapi::XDriveModel::tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) override

Drive the robot with a tank drive layout.

Parameters
ileftSpeed left side speed
irightSpeed right side speed
ithreshold deadband on joystick values

Uses voltage mode.

void okapi::XDriveModel::arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) override

Drive the robot with an arcade drive layout.

Parameters
iforwardSpeed speed in the forward direction
iyaw speed around the vertical axis
ithreshold deadband on joystick values

Uses voltage mode.

void okapi::XDriveModel::curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) override

Drive the robot with a curvature drive layout.

Parameters
iforwardSpeed speed forward direction
icurvature curvature (inverse of radius) to drive in
ithreshold deadband on joystick values

The robot drives in constant radius turns where you control the curvature (inverse of radius) you drive in. This is advantageous because the forward speed will not affect the rate of turning. The algorithm switches to arcade if the forward speed is 0. Uses voltage mode.

void okapi::XDriveModel::xArcade(double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold = 0) virtual

Drive the robot with an arcade drive layout.

Parameters
irightSpeed speed to the right
iforwardSpeed speed in the forward direction
iyaw speed around the vertical axis
ithreshold deadband on joystick values

Uses voltage mode.

void okapi::XDriveModel::fieldOrientedXArcade(double ixSpeed, double iySpeed, double iyaw, QAngle iangle, double ithreshold = 0) virtual

Drive the robot with a field-oriented arcade drive layout.

Parameters
ixSpeed forward speed – (+1) forward, (-1) backward
iySpeed sideways speed – (+1) right, (-1) left
iyaw turn speed – (+1) clockwise, (-1) counter-clockwise
iangle current chassis angle (0_deg = no correction, winds clockwise)
ithreshold deadband on joystick values

Uses voltage mode. For example: Both fieldOrientedXArcade(1, 0, 0, 0_deg) and fieldOrientedXArcade(1, 0, 0, 90_deg) will drive the chassis in the forward/north direction. In other words, no matter the robot's heading, the robot will move forward/north when you tell it to move forward/north and will move right/east when you tell it to move right/east.

void okapi::XDriveModel::left(double ispeed) override

Power the left side motors.

Parameters
ispeed The motor power.

Uses velocity mode.

void okapi::XDriveModel::right(double ispeed) override

Power the right side motors.

Parameters
ispeed The motor power.

Uses velocity mode.

std::valarray<std::int32_t> okapi::XDriveModel::getSensorVals() const override

Read the sensors.

Returns sensor readings in the format {left, right}

void okapi::XDriveModel::setBrakeMode(AbstractMotor::brakeMode mode) override

Set the brake mode for each motor.

Parameters
mode new brake mode

void okapi::XDriveModel::setEncoderUnits(AbstractMotor::encoderUnits units) override

Set the encoder units for each motor.

Parameters
units new motor encoder units

void okapi::XDriveModel::setGearing(AbstractMotor::gearset gearset) override

Set the gearset for each motor.

Parameters
gearset new motor gearset

void okapi::XDriveModel::setMaxVelocity(double imaxVelocity) override

Sets a new maximum velocity in RPM.

Parameters
imaxVelocity The new maximum velocity.

The usable maximum depends on the maximum velocity of the currently installed gearset. If the configured maximum velocity is greater than the attainable maximum velocity from the currently installed gearset, the ChassisModel will still scale to that velocity.

double okapi::XDriveModel::getMaxVelocity() const override

Returns The current maximum velocity.

void okapi::XDriveModel::setMaxVoltage(double imaxVoltage) override

Sets a new maximum voltage in mV in the range [0-12000].

Parameters
imaxVoltage The new maximum voltage.

double okapi::XDriveModel::getMaxVoltage() const override

Returns The maximum voltage in mV in the range [0-12000].

std::shared_ptr<AbstractMotor> okapi::XDriveModel::getTopLeftMotor() const

Returns the top left motor.

Returns the top left motor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::getTopRightMotor() const

Returns the top right motor.

Returns the top right motor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::getBottomRightMotor() const

Returns the bottom right motor.

Returns the bottom right motor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::getBottomLeftMotor() const

Returns the bottom left motor.

Returns the bottom left motor