#include <TankDrive.h>

Inheritance diagram for art::TankDrive:

Public Member Functions
	TankDrive (vex::motor_group left, vex::motor_group right)
	Construct a new Tank Drive object.

void	arcade (double x, double y, double rot)
	Commands the TankDrive using arcade inputs.

void	arcade (double drive, double rot)
	Commands the TankDrive using Tank-only arcade inputs.

void	tank (double left, double right)
	Commands the TankDrive using tank inputs.

void	LeftSplitArcade (const vex::controller &cont)
	Commands the TankDrive using arcade inputs directly from a controller.

void	LeftSplitArcadeCurved (const vex::controller &cont)
	Commands the TankDrive using arcade inputs directly from a controller.

void	update ()
	Uses the stored commands to command the motors.

Protected Attributes
SimpleMotorGroup	m_left
	a SimpleMotorGroup for the left side

SimpleMotorGroup	m_right
	a SimpleMotorGroup for the right side

double	m_cmdX {0}
	The Stored command for the X-direction.

double	m_cmdY {0}
	The Stored command for the Y-direction.

double	m_cmdRot {0}
	The Stored command for rotation.

Detailed Description

A Simple TankDrive class.

The aim of the TankDrive class is to package low-level tank controls to be called both during directly to drive and by other classes to allow for more complex functions. The SmartDrive class for example, expands on the functionality of the TankDrive by using the basic functions to perform more complex maneuvers.

The TankDrive can be commanded through several different functions. These commands are stored and used to command the motors. However, the benefit of storing these commands rather than directly commanding the motors is that 1) they can be accessed later and 2) they don't cap out at a maximum value. This gives the ability to pass whatever commands you wish as when the motor commands are calculated, one of the commands can be overwritten if the other is more significant. For example, if a small turn input is paired with a large drive input (greater than 100), the drive input can cause the rotation input to be insignificant.

Commands are percentages of the max voltage(12). The left of the robot takes the sum of the drive and turn inputs, while the right takes the difference. Thus, the motor command can exceed 100(or -100), which would just make the motor move at 100 percent. Commanding more than that doesn't change anything, but because the commands are added, commanding more than a 100 percent means that the command can remain past 100 even after adding the turn command.

Todo

add a way to enable speedMode

add a method to retain proportionality between inputs

add getters for stuff

add curvature control scheme

provide several other preset control schemes

Definition at line 54 of file TankDrive.h.

Constructor & Destructor Documentation

◆ TankDrive()

art::TankDrive::TankDrive	(	vex::motor_group	left,
		vex::motor_group	right )

Construct a new Tank Drive object.

Parameters

left	a motor_group for the left side
right	a motor_group for the right side

The TankDrive class requires 2 vex::motor_groups, one for each side.

Definition at line 20 of file TankDrive.cpp.

Member Function Documentation

◆ arcade() [1/2]

void art::TankDrive::arcade	(	double	drive,
		double	rot )

Commands the TankDrive using Tank-only arcade inputs.

Parameters

drive	the command for the Y-direcction(driving)
rot	the command for rotation(turning

A modified arcade method to remove the ignored x-input.

Definition at line 29 of file TankDrive.cpp.

◆ arcade() [2/2]

void art::TankDrive::arcade	(	double	x,
		double	y,
		double	rot )

Commands the TankDrive using arcade inputs.

Parameters

x	the command for the X-direction(the TankDrive ignores this input)
y	the command for the Y-direcction(driving)
rot	the command for rotation(turning)

Because TankDrives don't have wheels powered in the X-direction, the X-input is ignored. The reason this function still accepts it is because there were originally plans to include several other drive types, but were never fully fleshed out, leaving an extra input that is currently unused.

Definition at line 22 of file TankDrive.cpp.

◆ LeftSplitArcade()

void art::TankDrive::LeftSplitArcade ( const vex::controller & cont )

Commands the TankDrive using arcade inputs directly from a controller.

Parameters

cont	a refrence to a controller object

This method simply provides a pre-set control scheme using a controller as an input. The commands are passed directly from the joysticks to the arcade function.

The Left Joystick's vertical axis(Axis3) is mapped to driving and the Right Joystick's horizontal Axis(Axis1) is mapped to turning.

Definition at line 41 of file TankDrive.cpp.

◆ LeftSplitArcadeCurved()

void art::TankDrive::LeftSplitArcadeCurved ( const vex::controller & cont )

Commands the TankDrive using arcade inputs directly from a controller.

Parameters

cont	a refrence to a controller object

This method simply provides a pre-set control scheme using a controller as an input. The commands from the joysticks are cubed and divided by 10,000 before being passed to the arcade function. This results in an input curve that decreases lower values, decreasing the sensitivity of inputs and making it easier to drive slow.

The Left Joystick's vertical axis(Axis3) is mapped to driving and the Right Joystick's horizontal Axis(Axis1) is mapped to turning.

For example, an input of 80 from the controller only leads to an output of ~50 percent. While an input of 50 leads to an output of only ~12 percent.

Definition at line 46 of file TankDrive.cpp.

◆ tank()

void art::TankDrive::tank	(	double	left,
		double	right )

Commands the TankDrive using tank inputs.

Parameters

left	the command for the left motors
right	the command for the right motors

Internally, the 2 inputs are simply used to calculate the y and rot commands. The notes on commands past 100 in the class description remains true for these calculated inputs.

Definition at line 35 of file TankDrive.cpp.

◆ update()

void art::TankDrive::update ( )

Uses the stored commands to command the motors.

Originally, this had use to actually command the motors, but now each method internally calls update, so this just remains here, as it was part of a shared interface between periodically updating objects. Essentially, it does nothing notable and should be ignored.

Definition at line 52 of file TankDrive.cpp.

Member Data Documentation

◆ m_cmdRot

double art::TankDrive::m_cmdRot {0}

protected

The Stored command for rotation.

The command is a positive or negative percentage, but can exceed 100 as well. Doing so will make the command more significant in calculations with the other commands.

Definition at line 201 of file TankDrive.h.

◆ m_cmdX

double art::TankDrive::m_cmdX {0}

protected

The Stored command for the X-direction.

The command is a positive or negative percentage, but can exceed 100 as well. Doing so will make the command more significant in calculations with the other commands.

Because TankDrives can't drive in the X-direction, this command is ignored.

Definition at line 185 of file TankDrive.h.

◆ m_cmdY

double art::TankDrive::m_cmdY {0}

protected

The Stored command for the Y-direction.

The command is a positive or negative percentage, but can exceed 100 as well. Doing so will make the command more significant in calculations with the other commands.

Definition at line 193 of file TankDrive.h.

◆ m_left

SimpleMotorGroup art::TankDrive::m_left

protected

a SimpleMotorGroup for the left side

Currently, there is no way to access this SimpleMotorGroup using the TankDrive object. However, you can still use methods on the vex::motor_groups you used to contruct the TankDrive object. Telling those motor groups to spin will likely cause undefined behaviour though.

Definition at line 164 of file TankDrive.h.

◆ m_right

SimpleMotorGroup art::TankDrive::m_right

protected

a SimpleMotorGroup for the right side

Currently, there is no way to access this SimpleMotorGroup using the TankDrive object. However, you can still use methods on the vex::motor_groups you used to contruct the TankDrive object. Telling those motor groups to spin will likely cause undefined behaviour though.

Definition at line 174 of file TankDrive.h.

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

include/ART/TankDrive.h
src/ART/TankDrive.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TankDrive()

Member Function Documentation

◆ arcade() [1/2]

◆ arcade() [2/2]

◆ LeftSplitArcade()

◆ LeftSplitArcadeCurved()

◆ tank()

◆ update()

Member Data Documentation

◆ m_cmdRot

◆ m_cmdX

◆ m_cmdY

◆ m_left

◆ m_right