ADBLib::OmniDrive Class Reference

Simple omni drive class that uses omni wheels and a translational omni wheel for strafing. More...

#include <OmniDrive.h>

Inheritance diagram for ADBLib::OmniDrive:

Collaboration diagram for ADBLib::OmniDrive:

Public Member Functions
	OmniDrive (SpeedController *mFrontLeft, SpeedController *mFrontRight, SpeedController *mBackRight, SpeedController *mBackLeft, SpeedController *newTransMotor)
	Constructor; sets all motors, including the translation motor. More...
	~OmniDrive ()
	Deletes all motors, including the translation motor. More...
void	drive (float x=0.0, float y=0.0, float r=0.0)
	Uses omni wheels to drive in combination with a translational omni wheel. Capable of full translation and rotation. More...
void	setTransMotor (SpeedController *newMotor)
	Set the translation motor. More...
void	stop ()
	Disables the drivebase and sets the command to zero the motor. 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...
bool	getEnabled ()
	Gets the status of the drivebase. More...

Protected Attributes
SpeedController *	transMotor
Protected Attributes inherited from ADBLib::Drivebase
SpeedController *	motors [4]
bool	enabled
float	speeds [4]

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...

Detailed Description

Simple omni drive class that uses omni wheels and a translational omni wheel for strafing.

Constructor & Destructor Documentation

ADBLib::OmniDrive::OmniDrive	(	SpeedController *	mFrontLeft,
		SpeedController *	mFrontRight,
		SpeedController *	mBackRight,
		SpeedController *	mBackLeft,
		SpeedController *	newTransMotor
	)

Constructor; sets all motors, including the translation motor.

Parameters

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

ADBLib::OmniDrive::~OmniDrive

(

)

Deletes all motors, including the translation motor.

Member Function Documentation

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

virtual

Uses omni wheels to drive in combination with a translational omni wheel. 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.

Implements ADBLib::Drivebase.

Here is the call graph for this function:

void ADBLib::OmniDrive::setTransMotor

(

SpeedController *

newMotor

)

Set the translation motor.

Parameters

newMotor

The translational motor. Should be set perendicular to the set of regular omni wheels.

void ADBLib::OmniDrive::stop ( )

virtual

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

Reimplemented from ADBLib::Drivebase.

Member Data Documentation

SpeedController* ADBLib::OmniDrive::transMotor

protected

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

• src/drivebase/OmniDrive.h
• src/drivebase/OmniDrive.cpp