#include <MecanumDrive.h>

Inheritance diagram for MecanumDrive:

Public Member Functions
	MecanumDrive ()

virtual	~MecanumDrive ()

virtual void	ComponentInit ()

virtual void	Sense ()

virtual void	DoWork ()

virtual void	SetSmoothAccel (bool enable)

bool	isSmoothAccel () const

void	setSmoothAccel (bool smoothAccel)

bool	isGyroEnabled () const

void	setGyroEnabled (bool gyroEnabled)

Public Member Functions inherited from RobotComponent
	RobotComponent ()

virtual	~RobotComponent ()

Private Attributes
Joystick *	m_DriveStick
	joystick controller More...

RobotDrive *	m_Drive
	drive instance More...

SmoothAxis *	m_ValueX
	left/right speed [-1.0..1.0] More...

SmoothAxis *	m_ValueY
	fwd/bkwd speed, inverted [-1.0..1.0] More...

SmoothAxis *	m_ValueRotate
	Rate of rotation [-1.0..1.0]. More...

Gyro *	m_Gyro
	Gyroscope instance to measure robot's heading. More...

JoystickButton *	m_GyroButton
	Button to dis/enable gyro. More...

bool	m_GyroButtonIsPressed
	Button state. More...

bool	m_gyroEnabled
	Gyroscope enablement. More...

float	m_gyroAngle
	Gyroscope angle measurement. More...

bool	m_SmoothAccel
	State of smooth acceleration capability. More...

Detailed Description

The MecanumDrive RobotComponent provides control of 4 Talon motor control units for mecanum-equipped wheels.

Read more about mecanum wheels on wikipedia.

Definition at line 24 of file MecanumDrive.h.

Constructor & Destructor Documentation

MecanumDrive::MecanumDrive ( )

Definition at line 12 of file MecanumDrive.cpp.

References m_Drive, m_DriveStick, m_Gyro, m_gyroAngle, m_GyroButton, m_GyroButtonIsPressed, m_gyroEnabled, m_SmoothAccel, m_ValueRotate, m_ValueX, and m_ValueY.

MecanumDrive::~MecanumDrive ( )

virtual

Definition at line 25 of file MecanumDrive.cpp.

References m_Drive, m_DriveStick, m_Gyro, m_GyroButton, m_ValueRotate, m_ValueX, and m_ValueY.

Member Function Documentation

void MecanumDrive::ComponentInit ( )

virtual

Called once, to perform initialization that isn't appropriate for constructor.

Reimplemented from RobotComponent.

Definition at line 39 of file MecanumDrive.cpp.

References m_Drive, m_DriveStick, m_Gyro, m_GyroButton, m_GyroButtonIsPressed, m_SmoothAccel, m_ValueRotate, m_ValueX, m_ValueY, and SetSmoothAccel().

Referenced by Robot::RobotInit().

void MecanumDrive::DoWork ( )

virtual

Component-specific worker function. Operate the Drive, using values retrieved by Sense().

Cartesian motion drive method for Mecanum wheeled robots is used. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. By controlling the revolutions of each wheel independently, it is possible to translate the robot on a cartesian plane, and to rotate it separately.

This is designed to be directly driven by joystick axes.

Left stick controls cartesian translation
right stick controls rotation
Pressing down on right stick (Button 9) enables or disables gyro; when gyro is enabled, cartesian motion is relative to the field instead of the robot's POV.

Reimplemented from RobotComponent.

Definition at line 103 of file MecanumDrive.cpp.

References SmoothAxis::GetValue(), m_Drive, m_gyroAngle, m_ValueRotate, m_ValueX, and m_ValueY.

Referenced by Robot::TeleopPeriodic().

bool MecanumDrive::isGyroEnabled ( ) const

inline

Check if Gyroscope is enabled.