ADBLib::Drivebase Class Reference

#include <Drivebase.h>

Inheritance diagram for ADBLib::Drivebase:

Collaboration diagram for ADBLib::Drivebase:

Public Types
enum	MotorPos { frontLeft, frontRight, backRight, backLeft }

Public Member Functions
	Drivebase (SpeedController *mFrontLeft, SpeedController *mFrontRight, SpeedController *mBackRight, SpeedController *mBackLeft)
	Constructor; sets all motors. More...
virtual	~Drivebase ()
	Deletes all motors. More...
virtual void	drive (float x=0.0, float y=0.0, float r=0.0)=0
	Pure virtual function; override this for drivebase-specific behavior. More...
virtual void	stop ()
	Disables the drivebase and sets the command to zero the motor. More...
bool	getEnabled ()
	Gets the status of the drivebase. More...

Public Attributes
const string	MotorNames [4] = {"Front-left", "Front-Right", "Back-Right", "Back-Left"}
	Motor names that correspond to the MotorPos array; can be used for debug purposes. More...

Protected Member Functions
void	normSpeeds ()
	Internal function; normalizes wheel speeds to be between -1 and 1. More...

Protected Attributes
SpeedController *	motors [4]
bool	enabled
float	speeds [4]

Member Enumeration Documentation

enum ADBLib::Drivebase::MotorPos

Enumerator
frontLeft
frontRight
backRight
backLeft

Constructor & Destructor Documentation

ADBLib::Drivebase::Drivebase	(	SpeedController *	mFrontLeft,
		SpeedController *	mFrontRight,
		SpeedController *	mBackRight,
		SpeedController *	mBackLeft
	)

Constructor; sets all motors.

Parameters

mFrontLeft	The front left motor.
mFrontRight	The front right motor.
mBackRight	The back right motor.
mBackLeft	The back left motor.

Note

Accepts anything that inherits a SpeedController, so go wild.

ADBLib::Drivebase::~Drivebase ( )

virtual

Deletes all motors.

Member Function Documentation

virtual void ADBLib::Drivebase::drive ( float  x = 0.0, float  y = 0.0, float  r = 0.0  )

pure virtual

Pure virtual function; override this for drivebase-specific behavior.

Implemented in ADBLib::OctocanumDrive, ADBLib::OmniDrive, ADBLib::MecanumDrive, and ADBLib::TractionDrive.

bool ADBLib::Drivebase::getEnabled

(

)

Gets the status of the drivebase.

Returns

True if enabled, false if disabled.

void ADBLib::Drivebase::normSpeeds ( )

protected

Internal function; normalizes wheel speeds to be between -1 and 1.

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void ADBLib::Drivebase::stop ( )

virtual

Disables the drivebase and sets the command to zero the motor.

Reimplemented in ADBLib::OmniDrive.

Member Data Documentation

bool ADBLib::Drivebase::enabled

protected

const string ADBLib::Drivebase::MotorNames[4] = {"Front-left", "Front-Right", "Back-Right", "Back-Left"}

Motor names that correspond to the MotorPos array; can be used for debug purposes.

SpeedController* ADBLib::Drivebase::motors[4]

protected

float ADBLib::Drivebase::speeds[4]

protected

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

• src/drivebase/Drivebase.h
• src/drivebase/Drivebase.cpp