io.github.robolib.module.actuator

Class DriveBase

java.lang.Object

io.github.robolib.module.actuator.DriveBase

All Implemented Interfaces:

ActuatorModule, Module, MotorSafety

public class DriveBase
extends java.lang.Object
implements ActuatorModule, MotorSafety

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DriveBase.MotorType Enum representation of each motor

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	m_allocatedFrontMotors
protected boolean	m_allocatedRearMotors
protected SpeedController	m_frontLeftMotor
protected SpeedController	m_frontRightMotor
protected SpeedController	m_rearLeftMotor
protected SpeedController	m_rearRightMotor
protected MotorSafetyHelper	m_safetyHelper
protected byte	m_syncGroup
protected double[]	m_wheelSpeeds
private static double	sqrt2

Fields inherited from interface io.github.robolib.module.MotorSafety

SAFETY_TIMEOUT_DEFAULT, SAFETY_TIMEOUT_LOOSE, SAFETY_TIMEOUT_STRICT

Constructor Summary

Constructors

Constructor and Description
DriveBase(PWM.PWMChannel left, PWM.PWMChannel right)
DriveBase(PWM.PWMChannel frontLeft, PWM.PWMChannel frontRight, PWM.PWMChannel rearLeft, PWM.PWMChannel rearRight)
DriveBase(SpeedController left, SpeedController right)
DriveBase(SpeedController frontLeft, SpeedController frontRight, SpeedController rearLeft, SpeedController rearRight)

Method Summary

Modifier and Type	Method and Description
void	arcade(double forward, double rotation) Arcade drive implements single stick driving.
void	arcade(double forward, double rotation, boolean squared) Arcade drive implements single stick driving.
<T> void	bind(T o, java.util.function.BiConsumer<DriveBase,T> q)
void	disableModule() Disable the module
void	enableModule() Enable the module
void	free()
java.lang.String	getDescription() Gets the description.
boolean	getModuleEnabled()
MotorSafetyHelper	getSafetyHelper() Return the MotorSafetyHelper object for this MotorSafety Object
void	makeSafe() Make this actuator safe.
void	mecanum_polar(double magnitude, double direction, double rotation) Drive method for Mecanum wheeled robots.
void	mecanum_polar(double magnitude, double direction, double rotation, boolean squared) Drive method for Mecanum wheeled robots.
void	mecanum(double x, double y, double rotation) Drive method for Mecanum wheeled robots.
void	mecanum(double x, double y, double rotation, boolean squared) Drive method for Mecanum wheeled robots.
void	mecanum(double x, double y, double rotation, double gyro) Drive method for Mecanum wheeled robots.
void	mecanum(double x, double y, double rotation, double gyro, boolean squared) Drive method for Mecanum wheeled robots.
protected void	normalize() Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
protected static double[]	rotateVector(double x, double y, double angle) Rotate a vector in Cartesian space.
void	setLeftMotors(double speed) Set the speed of the left motors.
void	setMotorInverted(DriveBase.MotorType type, boolean inverted) Invert a motor direction.
protected void	setMotors() Set the speed of the motors to the values in m_wheelSpeeds.
void	setMotors(double speed) Set the speed of all the motors to a single value.
void	setMotors(double left, double right) Set the speed of the right and left motors.
void	setMotors(double frontLeft, double frontRight, double rearLeft, double rearRight) Set the speed of all the motors.
void	setRightMotors(double speed) Set the speed of the right motors.
protected static double	squareInput(double input) Square an input, keeping the sign(-/+)
void	stopMotor() Stop motor.
void	tank(double left, double right) Provide tank steering using the stored robot configuration.
void	tank(double left, double right, boolean squared) Provide tank steering using the stored robot configuration.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.robolib.module.MotorSafety

feed, getSafetyExpiration, isAlive, isSafetyEnabled, setSafetyEnabled, setSafetyExpiration

Field Detail

m_safetyHelper

protected MotorSafetyHelper m_safetyHelper

m_frontLeftMotor

protected SpeedController m_frontLeftMotor

m_frontRightMotor

protected SpeedController m_frontRightMotor

m_rearLeftMotor

protected SpeedController m_rearLeftMotor

m_rearRightMotor

protected SpeedController m_rearRightMotor

m_allocatedFrontMotors

protected boolean m_allocatedFrontMotors

m_allocatedRearMotors

protected boolean m_allocatedRearMotors

m_syncGroup

protected byte m_syncGroup

m_wheelSpeeds

protected double[] m_wheelSpeeds

sqrt2

private static final double sqrt2

Constructor Detail

DriveBase

public DriveBase(PWM.PWMChannel left,
                 PWM.PWMChannel right)

Parameters:

left -

right -

DriveBase

public DriveBase(SpeedController left,
                 SpeedController right)

Parameters:

left -

right -

DriveBase

public DriveBase(PWM.PWMChannel frontLeft,
                 PWM.PWMChannel frontRight,
                 PWM.PWMChannel rearLeft,
                 PWM.PWMChannel rearRight)

Parameters:

frontLeft -

frontRight -

rearLeft -

rearRight -

DriveBase

public DriveBase(SpeedController frontLeft,
                 SpeedController frontRight,
                 SpeedController rearLeft,
                 SpeedController rearRight)

Parameters:

frontLeft -

frontRight -

rearLeft -

rearRight -

Method Detail

free

public void free()

setMotorInverted

public void setMotorInverted(DriveBase.MotorType type,
                             boolean inverted)

Invert a motor direction. This is used when a motor should run in the opposite direction as the drive code would normally run it. Motors that are direct drive would be inverted, the drive code assumes that the motors are geared with one reversal.

Parameters:

type - the DriveBase.MotorType to set

inverted - True if the motor should be inverted when operated.

bind

public <T> void bind(T o,
                     java.util.function.BiConsumer<DriveBase,T> q)

arcade

public void arcade(double forward,
                   double rotation)

Arcade drive implements single stick driving. This function lets you directly provide joystick values from any source.

Parameters:

forward - The value to use for forwards/backwards

rotation - The value to use for the rotate right/left

arcade

public void arcade(double forward,
                   double rotation,
                   boolean squared)

Arcade drive implements single stick driving. This function lets you directly provide joystick values from any source.

Parameters:

forward - The value to use for forwards/backwards

rotation - The value to use for the rotate right/left

squared - If set, decreases the sensitivity at low speeds

tank

public void tank(double left,
                 double right)

Provide tank steering using the stored robot configuration. This function lets you directly provide joystick values from any source.

Parameters:

left - The value of the left stick.

right - The value of the right stick.

tank

public void tank(double left,
                 double right,
                 boolean squared)

Provide tank steering using the stored robot configuration. This function lets you directly provide joystick values from any source.

Parameters:

left - The value of the left stick.

right - The value of the right stick.

squared - If set, decreases the sensitivity at low speeds

mecanum

public void mecanum(double x,
                    double y,
                    double rotation)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot. This is designed to be directly driven by joystick axes.

Parameters:

x - The speed that the robot should drive in the X direction. [-1.0..1.0]

y - The speed that the robot should drive in the Y direction. This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]

rotation - The rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0]

mecanum

public void mecanum(double x,
                    double y,
                    double rotation,
                    boolean squared)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot. This is designed to be directly driven by joystick axes.

Parameters:

x - The speed that the robot should drive in the X direction. [-1.0..1.0]

y - The speed that the robot should drive in the Y direction. This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]

rotation - The rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0]

squared - If set, decreases the sensitivity at low speeds

mecanum

public void mecanum(double x,
                    double y,
                    double rotation,
                    double gyro)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot. This is designed to be directly driven by joystick axes.

Parameters:

x - The speed that the robot should drive in the X direction. [-1.0..1.0]

y - The speed that the robot should drive in the Y direction. This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]

rotation - The rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0]

gyro - The current angle reading from the gyro. Use this to implement field-oriented controls.

mecanum

public void mecanum(double x,
                    double y,
                    double rotation,
                    double gyro,
                    boolean squared)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot. This is designed to be directly driven by joystick axes.

Parameters:

x - The speed that the robot should drive in the X direction. [-1.0..1.0]

y - The speed that the robot should drive in the Y direction. This input is inverted to match the forward == -1.0 that joysticks produce. [-1.0..1.0]

rotation - The rate of rotation for the robot that is completely independent of the translation. [-1.0..1.0]

gyro - The current angle reading from the gyro. Use this to implement field-oriented controls.

squared - If set, decreases the sensitivity at low speeds

mecanum_polar

public void mecanum_polar(double magnitude,
                          double direction,
                          double rotation)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.

Parameters:

magnitude - The speed that the robot should drive in a given direction.

direction - The direction the robot should drive in degrees. The direction and maginitute are independent of the rotation rate.

rotation - The rate of rotation for the robot that is completely independent of the magnitute or direction. [-1.0..1.0]

mecanum_polar

public void mecanum_polar(double magnitude,
                          double direction,
                          double rotation,
                          boolean squared)

Drive method for Mecanum wheeled robots. A method for driving with Mecanum wheeled robots. There are 4 wheels on the robot, arranged so that the front and back wheels are toed in 45 degrees. When looking at the wheels from the top, the roller axles should form an X across the robot.

Parameters:

magnitude - The speed that the robot should drive in a given direction.

direction - The direction the robot should drive in degrees. The direction and maginitute are independent of the rotation rate.

rotation - The rate of rotation for the robot that is completely independent of the magnitute or direction. [-1.0..1.0]

squared - If set, decreases the sensitivity at low speeds

squareInput

protected static double squareInput(double input)

Square an input, keeping the sign(-/+)

Parameters:

input - the value to be squared

Returns:

A squared value of the input with the sign kept

normalize

protected void normalize()

Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.

rotateVector

protected static double[] rotateVector(double x,
                                       double y,
                                       double angle)

Rotate a vector in Cartesian space.

Parameters:

x - the x component

y - the y component

angle - the angle of rotation

Returns:

an array of doubles [x, y]

setLeftMotors

public void setLeftMotors(double speed)

Set the speed of the left motors. The motors on the left side of the robot are set to "speed".

Parameters:

speed - The speed to send to the left side of the robot.

setRightMotors

public void setRightMotors(double speed)

Set the speed of the right motors. The motors on the right side of the robot are set to "speed".

Parameters:

speed - The speed to send to the right side of the robot.

setMotors

public void setMotors(double speed)

Set the speed of all the motors to a single value. The motors are set to "speed".

Parameters:

speed - The speed to send to all the motors.

setMotors

public void setMotors(double left,
                      double right)

Set the speed of the right and left motors. The motors are set to "left" and "right".

Parameters:

left - The speed to send to the left side of the robot.

right - The speed to send to the right side of the robot.

setMotors

public void setMotors(double frontLeft,
                      double frontRight,
                      double rearLeft,
                      double rearRight)

Set the speed of all the motors.

Parameters:

frontLeft - The speed to send to the front left motor.

frontRight - The speed to send to the front right motor.

rearLeft - The speed to send to the rear left motor.

rearRight - The speed to send to the rear right motor.

setMotors

protected void setMotors()

Set the speed of the motors to the values in m_wheelSpeeds. Set all the motors to their respective values in the m_wheelSpeeds array.

getSafetyHelper

public MotorSafetyHelper getSafetyHelper()

Return the MotorSafetyHelper object for this MotorSafety Object

Specified by:

getSafetyHelper in interface MotorSafety

Returns:

the motor safety helper

stopMotor

public void stopMotor()

Stop motor.

Specified by:

stopMotor in interface MotorSafety

getDescription

public java.lang.String getDescription()

Gets the description.

Specified by:

getDescription in interface MotorSafety

Returns:

the description

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

disableModule

public void disableModule()

Disable the module

Specified by:

disableModule in interface Module

makeSafe

public void makeSafe()

Make this actuator safe. This should disable the module and keep it disabled. There should be no way to recover from a "safe" state. This is here to allow for exceptions in function, to keep the code resetting (switching game mode) from affecting the state, in case an external sensor detects that the module will cause damage to itself or others (or even people) To recover from this state, the code should need to be restarted.

Specified by:

makeSafe in interface ActuatorModule

getModuleEnabled

public boolean getModuleEnabled()

Specified by:

getModuleEnabled in interface Module