control::SwerveController Class Reference

Controller to handle the wheel rotations for driving with swerve modes. More...

#include <SwerveController.h>

Public Member Functions
	SwerveController (double baseWidth, double baseLength, int epsilon)
	Construct a new controller object.
drive_commands_t	setTurnInPlaceCmdVel (double dtheta, const swerve_rots_t &wheel_rots) const
	Request the robot to turn in place using swerve.
drive_commands_t	setTurnInPlaceCmdVel (double dtheta, const swerve_rots_t &wheel_rots, double &scaleFactor) const
	Request the robot to turn in place using swerve.
drive_commands_t	setCrabCmdVel (double dtheta, double dy, const swerve_rots_t &wheel_rots) const
	Request the robot to drive side to side and turn with given velocities using swerve.
drive_commands_t	setCrabCmdVel (double dtheta, double dy, const swerve_rots_t &wheel_rots, double &scaleFactor) const
	Request the robot to drive side to side and turn with given velocities using swerve.
const kinematics::SwerveDriveKinematics &	swerveKinematics () const
	Get the SwerveDriveKinematics object used by the controller.
void	setOverride (bool override)
	Set the override flag for wheel rotation checking.
bool	isOverridden () const
	Check the override flag for wheel rotation checking.
DriveMode	getDriveMode () const
	Get the current drive mode of the controller.
swerve_rots_t	setDriveMode (DriveMode mode)
	Set the drive mode of the controller.
bool	checkWheelRotation (DriveMode mode, const swerve_rots_t &wheel_rots) const
	Check to see if all wheels are at their target position.
swerve_rots_t	getSteerRots (DriveMode mode) const
	Get the wheel steer rotations for a given drive mode in millidegrees.

Detailed Description

Controller to handle the wheel rotations for driving with swerve modes.

Constructor & Destructor Documentation

SwerveController()

control::SwerveController::SwerveController	(	double	baseWidth,
		double	baseLength,
		int	epsilon )

Construct a new controller object.

Parameters

baseWidth	The width of the wheelbase. The units themselves don't matter, as long as you're consistent.
baseLength	The length of the wheelbase. The units themselves don't matter, as long as you're consistent.
epsilon	The allowable error from the actual wheel rotation to the wheel rotations defined by DRIVE_MODE to process a drive request

Member Function Documentation

checkWheelRotation()

bool SwerveController::checkWheelRotation	(	DriveMode	mode,
		const swerve_rots_t &	wheel_rots ) const

Check to see if all wheels are at their target position.

Parameters

mode	The drive mode to compare wheel rotations against.
wheel_rots	The rotation of all four wheels in millidegrees

Returns

bool if the wheels are within STEER_EPSILON of their target position OR if overide_steer_check is true.

getDriveMode()

DriveMode SwerveController::getDriveMode

(

)

const

Get the current drive mode of the controller.

Returns

DriveMode The current drive mode.

isOverridden()

bool SwerveController::isOverridden

(

)

const

Check the override flag for wheel rotation checking.

Returns

True iff the rotation checking is overridden.

setCrabCmdVel() [1/2]

drive_commands_t SwerveController::setCrabCmdVel	(	double	dtheta,
		double	dy,
		const swerve_rots_t &	wheel_rots ) const

Request the robot to drive side to side and turn with given velocities using swerve.

Essentially rotate the reference frame of the robot by 90 degrees CCW.

Parameters

dtheta	The heading velocity.
dy	The side-to-side velocity.
wheel_rots	The rotation of all four wheels in millidegrees

Returns

drive_commands_t The power commands for all four wheels.

setCrabCmdVel() [2/2]

drive_commands_t SwerveController::setCrabCmdVel	(	double	dtheta,
		double	dy,
		const swerve_rots_t &	wheel_rots,
		double &	scaleFactor ) const

Request the robot to drive side to side and turn with given velocities using swerve.

Essentially rotate the reference frame of the robot by 90 degrees CCW.

Parameters

dtheta	The heading velocity.
dy	The side-to-side velocity.
wheel_rots	The rotation of all four wheels in millidegrees
scaleFactor	This is an output parameter. If the requested velocities are too high, they will be scaled down. The returned value is the scale divisor. If no scaling was performed, 1 is returned.

Returns

drive_commands_t The power commands for all four wheels.

setDriveMode()

swerve_rots_t SwerveController::setDriveMode

(

DriveMode

mode

)

Set the drive mode of the controller.

Parameters

mode	The new drive mode to set.

Returns

swerve_rots_t The wheel steer rotations associated with this drive mode.

setOverride()

void SwerveController::setOverride

(

bool

override

)

Set the override flag for wheel rotation checking.

When set to true, the checkWheelRotation function will always return true, bypassing the wheel rotation check.

Parameters

override

Override the wheel rotation check.

setTurnInPlaceCmdVel() [1/2]

drive_commands_t SwerveController::setTurnInPlaceCmdVel	(	double	dtheta,
		const swerve_rots_t &	wheel_rots ) const

Request the robot to turn in place using swerve.

Parameters

dtheta	The heading velocity.
wheel_rots	The rotation of all four wheels in millidegrees

Returns

drive_commands_t The power commands for all four wheels.

setTurnInPlaceCmdVel() [2/2]

drive_commands_t SwerveController::setTurnInPlaceCmdVel	(	double	dtheta,
		const swerve_rots_t &	wheel_rots,
		double &	scaleFactor ) const

Request the robot to turn in place using swerve.

Parameters

dtheta	The heading velocity.
wheel_rots	The rotation of all four wheels in millidegrees
scaleFactor	This is an output parameter. If the requested velocities are too high, they will be scaled down. The returned value is the scale divisor. If no scaling was performed, 1 is returned.

Returns

drive_commands_t The power commands for all four wheels.

swerveKinematics()

const kinematics::SwerveDriveKinematics & SwerveController::swerveKinematics

(

)

const

Get the SwerveDriveKinematics object used by the controller.

Returns

const kinematics::SwerveDriveKinematics& The SwerveDriveKinematics object.

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

• src/control/SwerveController.h
• src/control/SwerveController.cpp