ADBLib::OctocanumDrive Class Reference

Octocanum drive class that allows for variable drive modes. Allows driving with both traction and mecanum wheels. This is accompished by using a form of rockers and pneumatic pistons to switch out wheels. More...

#include <OctocanumDrive.h>

Inheritance diagram for ADBLib::OctocanumDrive:

Collaboration diagram for ADBLib::OctocanumDrive:

Public Types
enum	driveMode { mecanum, traction }
Public Types inherited from ADBLib::Drivebase
enum	MotorPos { frontLeft, frontRight, backRight, backLeft }

Public Member Functions
	OctocanumDrive (SpeedController *mFrontLeft, SpeedController *mFrontRight, SpeedController *mBackRight, SpeedController *mBackLeft, SimplePneumatic *pFrontLeft, SimplePneumatic *pFrontRight, SimplePneumatic *pBackRight, SimplePneumatic *pBackLeft)
	Constructor; sets up all motors and pneumatics. Do NOT give it invalid pointers! More...
	~OctocanumDrive ()
	Destructor, deletes all the motors and pneumatics. More...
void	drive (float x=0.0, float y=0.0, float r=0.0)
	Drives with full translational and rotational capability. More...
void	switchMode (driveMode newMode)
	Switches modes. Will. More...
driveMode	getMode ()
	Gets the current mode of the drivebase. 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...

Protected Attributes
SimplePneumatic *	solenoids [4]
driveMode	mode
Protected Attributes inherited from ADBLib::Drivebase
SpeedController *	motors [4]
bool	enabled
float	speeds [4]

Additional Inherited Members
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...

Detailed Description

Octocanum drive class that allows for variable drive modes. Allows driving with both traction and mecanum wheels. This is accompished by using a form of rockers and pneumatic pistons to switch out wheels.

Member Enumeration Documentation

enum ADBLib::OctocanumDrive::driveMode

Enumerator
mecanum
traction

Constructor & Destructor Documentation

ADBLib::OctocanumDrive::OctocanumDrive	(	SpeedController *	mFrontLeft,
		SpeedController *	mFrontRight,
		SpeedController *	mBackRight,
		SpeedController *	mBackLeft,
		SimplePneumatic *	pFrontLeft,
		SimplePneumatic *	pFrontRight,
		SimplePneumatic *	pBackRight,
		SimplePneumatic *	pBackLeft
	)

Constructor; sets up all motors and pneumatics. Do NOT give it invalid pointers!

Parameters

mFrontLeft	The front-left motor.
mFrontRight	The front-right motor.
mBackRight	The back-right motor.
mBackLeft	The back left motor.
pFrontLeft	The front-left pneumatic, corresponding to the front-left motor.
pFrontRight	The front-right pneumatic, corresponding to the front-right motor.
pBackRight	The back-right pneumatic, correpsonding to the back-right motor.
pBackLeft	The back-left pneumatic, corresponding to the back-left motor.

ADBLib::OctocanumDrive::~OctocanumDrive

(

)

Destructor, deletes all the motors and pneumatics.

Member Function Documentation

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

virtual

Drives with full translational and rotational capability.

Parameters

x	Strafing. Negative is left, positive is right. From -1 to 1. Only available in mecanum mode.
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.

Implements ADBLib::Drivebase.

Here is the call graph for this function:

OctocanumDrive::driveMode ADBLib::OctocanumDrive::getMode

(

)

Gets the current mode of the drivebase.

Returns

The mode.

void ADBLib::OctocanumDrive::switchMode

(

driveMode

newMode

)

Switches modes. Will.

Parameters

newMode

The mode to switch to.

Member Data Documentation

driveMode ADBLib::OctocanumDrive::mode

protected

SimplePneumatic* ADBLib::OctocanumDrive::solenoids[4]

protected

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

• src/drivebase/OctocanumDrive.h
• src/drivebase/OctocanumDrive.cpp