Mecanum drive class that uses mecanum wheels for full translation and rotation. More...

Inheritance diagram for ADBLib::MecanumDrive:

Collaboration diagram for ADBLib::MecanumDrive:

Public Member Functions
	MecanumDrive (SpeedController mFrontLeft, SpeedController mFrontRight, SpeedController mBackRight, SpeedController mBackLeft)

void	drive (float x=0.0, float y=0.0, float r=0.0)
	Uses mecanum wheels to drive. Capable of full translation and rotation. More...

Public Member Functions inherited from ADBLib::Drivebase
	Drivebase (SpeedController mFrontLeft, SpeedController mFrontRight, SpeedController mBackRight, SpeedController mBackLeft)
	Constructor; sets all motors. More...

virtual	~Drivebase ()
	Deletes all motors. 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...

Additional Inherited Members
Public Types inherited from ADBLib::Drivebase
enum	MotorPos { frontLeft, frontRight, backRight, backLeft }

Public Attributes inherited from ADBLib::Drivebase
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 inherited from ADBLib::Drivebase
void	normSpeeds ()
	Internal function; normalizes wheel speeds to be between -1 and 1. More...

Protected Attributes inherited from ADBLib::Drivebase
SpeedController *	motors [4]

bool	enabled

float	speeds [4]

Detailed Description

Mecanum drive class that uses mecanum wheels for full translation and rotation.

Constructor & Destructor Documentation

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

inline

void ADBLib::MecanumDrive::drive	(	float	x = `0.0`,
		float	y = `0.0`,
		float	r = `0.0`
	)

virtual

Uses mecanum wheels to drive. Capable of full translation and rotation.

Parameters

x	Strafing. Negative is left, positive is right. From -1 to 1.
y	Forward/Reverse. Positive is forward, negative is reverse. From 1 to -1.
r	Rotation. Positive is clockwise, negative is counterclockwise. From 1 to -1.

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