io.github.thunderbots.lightning.drive

Class DriveSystem

java.lang.Object

io.github.thunderbots.lightning.drive.DriveSystem

Direct Known Subclasses:

MecanumDrive

public abstract class DriveSystem
extends java.lang.Object

A DriveSystem represents the motors used for driving the robot, their arrangement, and in some cases, the type of wheels attached to the motor. Every subclass of DriveSystem must be able to accept two vectors, forward and clockwise, and calculate the exact power that must be sent to the individual motors for the robot to move with the given two vectors.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
private double	encoderTicksPerDriveInch Sets the amount of ticks that should be expected if the robot drives forward one inch.
private double	encoderTicksPerRotationDegree Sets the amount of ticks that should be expected if the robot rotates one degree.
private double	encoderTicksPerSwingDegree Sets the amount of ticks that should be expected if the robot swings one degree.
private MotorSet	motors The motors in this drive system.

Constructor Summary

Constructors

Constructor and Description
DriveSystem(MotorSet wheels) Constructs a new DriveSystem with the given DriveMotorSet as a base.
DriveSystem(java.lang.String[] motornames) Constructs a new DriveSystem that uses the motors with the given names.

Method Summary

Modifier and Type	Method and Description
boolean	drive(double power) Drives the robot forward with the given power.
boolean	driveInches(double power, double inches) Drives the robot forward with the given power and for the given distance, then stops.
private double	driveInchesToTicks(double inches) Converts between drive inches and encoder ticks.
boolean	driveSeconds(double power, double seconds) Drives the robot forward with the given power and for the given time, then stops.
boolean	driveTicks(double power, int ticks) Drives the robot forward with the given power and for the given tick distance, then stops.
double	getDriveInches() Gets the distance that the robot has driven forward since the last encoder reset.
abstract int	getDriveTicks() Gets the average value in raw ticks of the encoders for driving, assuming the robot is traveling in a straight line.
MotorSet	getMotorSet() Gets a reference to the MotorSet used by this drive system.
abstract int	getRotateTicks() Gets the average value in raw ticks of the encoders for driving, assuming the robot is rotating.
double	getRotationDegrees() Gets the degrees that the robot has rotated clockwise since the last encoder reset.
double	getSwingDegrees(boolean clockwise) Gets the degrees that the robot has swung in the given direction since the last encoder reset.
abstract int	getSwingTicks(boolean clockwise) Gets the average value in raw ticks of the encoders for driving, assuming the robot is swinging.
boolean	halt() Stops the robot.
void	resetEncoders() Resets the encoder of each motor in the drive system.
boolean	rotate(double power) Spins the robot clockwise with the given power.
boolean	rotateDegrees(double power, double degrees) Spins the robot clockwise with the given power and for the given amount of degrees, then stops.
private double	rotateDegreesToTicks(double degrees) Converts between rotation degrees and encoder ticks.
boolean	rotateSeconds(double power, double seconds) Spins the robot clockwise with the given power and for the given time, then stops.
boolean	rotateTicks(double power, int ticks) Spins the robot clockwise with the given power and for the given tick distance, then stops.
void	setEncoderTicksPerDriveInch(double ticks) Sets the amount of ticks that should be expected if the robot drives forward one inch.
void	setEncoderTicksPerRotationDegree(double ticks) Sets the amount of ticks that should be expected if the robot rotates one degree.
void	setEncoderTicksPerSwingDegree(double ticks) Sets the amount of ticks that should be expected if the robot swings one degree.
abstract boolean	setMovement(double forward, double clockwise) Sets the power of the motors on the robot so that the robot moves as described by the two vectors.
boolean	swing(boolean clockwise, double power) Swings the robot with the given spin and forward power.
boolean	swingDegrees(boolean clockwise, double power, double degrees) Swings the robot with the given spin and forward power, and for the given amount of degrees, then stops.
private double	swingDegreesToTicks(double degrees) Converts between swing degrees and encoder ticks.
boolean	swingSeconds(boolean clockwise, double power, double seconds) Swings the robot with the given spin and forward power, then stops after the given amount of time.
boolean	swingTicks(boolean clockwise, double power, int ticks) Swings the robot with the given spin and forward power, and for the given tick distance, then stops.
boolean	waitAndStop(double seconds) Waits the given amount of time, then stops the robot.

Methods inherited from class java.lang.Object

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

Field Detail

motors

private MotorSet motors

The motors in this drive system.

See Also:

MotorSet

encoderTicksPerDriveInch

private double encoderTicksPerDriveInch

Sets the amount of ticks that should be expected if the robot drives forward one inch.

This number cannot have a default value because different types of encoders will be used, and each may have a different definition of a tick.

encoderTicksPerRotationDegree

private double encoderTicksPerRotationDegree

Sets the amount of ticks that should be expected if the robot rotates one degree.

This number cannot have a default value because different types of encoders will be used, and each may have a different definition of a tick.

encoderTicksPerSwingDegree

private double encoderTicksPerSwingDegree

Sets the amount of ticks that should be expected if the robot swings one degree.

This number cannot have a default value because different types of encoders will be used, and each may have a different definition of a tick.

Constructor Detail

DriveSystem

public DriveSystem(MotorSet wheels)

Constructs a new DriveSystem with the given DriveMotorSet as a base.

Parameters:

wheels - the DriveMotorSet of this drive system.

DriveSystem

public DriveSystem(java.lang.String[] motornames)

Constructs a new DriveSystem that uses the motors with the given names.

Parameters:

motornames - the names of the motors to use with this drive system.

Method Detail

getMotorSet

public MotorSet getMotorSet()

Gets a reference to the MotorSet used by this drive system.

Returns:

the MotorSet for this drive system.

See Also:

motors

setMovement

public abstract boolean setMovement(double forward,
                                    double clockwise)

Sets the power of the motors on the robot so that the robot moves as described by the two vectors.

Parameters:

forward - the forward-driving vector; between -1 and 1.

clockwise - the clockwise-spinning vector; between -1 and 1.

Returns:

the success of the operation.

getDriveTicks

public abstract int getDriveTicks()

Gets the average value in raw ticks of the encoders for driving, assuming the robot is traveling in a straight line.

Returns:

the average value of the encoders for driving.

getRotateTicks

public abstract int getRotateTicks()

Gets the average value in raw ticks of the encoders for driving, assuming the robot is rotating.

Returns:

the average value of the encoders for rotating.

getSwingTicks

public abstract int getSwingTicks(boolean clockwise)

Gets the average value in raw ticks of the encoders for driving, assuming the robot is swinging.

Returns:

the average value of the encoders for swinging.

driveInchesToTicks

private double driveInchesToTicks(double inches)

Converts between drive inches and encoder ticks.

Parameters:

inches - inches to convert.

Returns:

number of encoder ticks.

rotateDegreesToTicks

private double rotateDegreesToTicks(double degrees)

Converts between rotation degrees and encoder ticks.

Parameters:

degrees - degrees to convert.

Returns:

number of encoder ticks.

swingDegreesToTicks

private double swingDegreesToTicks(double degrees)

Converts between swing degrees and encoder ticks.

Parameters:

degrees - degrees to convert.

Returns:

the number of encoder ticks.

getDriveInches

public double getDriveInches()

Gets the distance that the robot has driven forward since the last encoder reset.

If other (non-drive) movement has occurred since the last encoder reset, this method will not return an accurate result.

Returns:

the distance, in inches, that the robot has driven forward.

getRotationDegrees

public double getRotationDegrees()

Gets the degrees that the robot has rotated clockwise since the last encoder reset.

If other (non-rotation) movement has occurred since the last encoder reset, this method will not return an accurate result.

Returns:

the degrees that the robot has rotated clockwise.

getSwingDegrees

public double getSwingDegrees(boolean clockwise)

Gets the degrees that the robot has swung in the given direction since the last encoder reset.

If other (non-swing) movement has occurred since the last encoder reset, this method will not return an accurate result.

Parameters:

clockwise - true if the robot should swing clockwise, or false if the robot should spin counter-clockwise.

Returns:

the degrees that the robot has swung in the given direction.

resetEncoders

public void resetEncoders()

Resets the encoder of each motor in the drive system.

setEncoderTicksPerDriveInch

public void setEncoderTicksPerDriveInch(double ticks)

Sets the amount of ticks that should be expected if the robot drives forward one inch.

Parameters:

ticks - the amount of encoder ticks in one drive-inch of this drive system.

See Also:

encoderTicksPerDriveInch

setEncoderTicksPerRotationDegree

public void setEncoderTicksPerRotationDegree(double ticks)

Sets the amount of ticks that should be expected if the robot rotates one degree.

Parameters:

ticks - the amount of encoder ticks in one rotation degree of this drive system.

See Also:

encoderTicksPerRotationDegree

setEncoderTicksPerSwingDegree

public void setEncoderTicksPerSwingDegree(double ticks)

Sets the amount of ticks that should be expected if the robot swings one degree.

Parameters:

ticks - the amount of encoder ticks in one swing degree of this drive system.

See Also:

encoderTicksPerSwingDegree

halt

public boolean halt()

Stops the robot.

Returns:

the success of the operation.

drive

public boolean drive(double power)

Drives the robot forward with the given power.

Parameters:

power - the forward power; between -1 and 1.

Returns:

the success of the operation.

rotate

public boolean rotate(double power)

Spins the robot clockwise with the given power.

Parameters:

power - the clockwise power; between -1 and 1.

Returns:

the success of the operation.

swing

public boolean swing(boolean clockwise,
                     double power)

Swings the robot with the given spin and forward power.

Parameters:

clockwise - true if the robot should swing clockwise, or false if the robot should spin counter-clockwise.

power - the forward power; between -1 and 1.

Returns:

the success of the operation.

driveSeconds

public boolean driveSeconds(double power,
                            double seconds)

Drives the robot forward with the given power and for the given time, then stops.

Parameters:

power - the forward power; between -1 and 1.

seconds - the time to move for.

Returns:

the success of the operation.

See Also:

drive(double)

rotateSeconds

public boolean rotateSeconds(double power,
                             double seconds)

Spins the robot clockwise with the given power and for the given time, then stops.

Parameters:

power - the clockwise power; between -1 and 1.

seconds - the time to move for.

Returns:

the success of the operation.

See Also:

rotate(double)

swingSeconds

public boolean swingSeconds(boolean clockwise,
                            double power,
                            double seconds)

Swings the robot with the given spin and forward power, then stops after the given amount of time.

Parameters:

clockwise - true if the robot should swing clockwise, or false if the robot should spin counter-clockwise.

power - the forward power; between -1 and 1.

seconds - the time to move for.

Returns:

the success of the operation.

See Also:

#swing(boolean, int)

waitAndStop

public boolean waitAndStop(double seconds)

Waits the given amount of time, then stops the robot.

Parameters:

seconds - the time to wait before stopping the robot.

Returns:

true if no interrupt exception was thrown during the wait.

driveTicks

public boolean driveTicks(double power,
                          int ticks)

Drives the robot forward with the given power and for the given tick distance, then stops.

Parameters:

power - the forward power; between -1 and 1.

ticks - the amount of encoder ticks to move for.

Returns:

the success of the operation.

See Also:

drive(double)

rotateTicks

public boolean rotateTicks(double power,
                           int ticks)

Spins the robot clockwise with the given power and for the given tick distance, then stops.

Parameters:

power - the clockwise power; between -1 and 1.

ticks - the amount of encoder ticks to move for.

Returns:

the success of the operation.

See Also:

rotate(double)

swingTicks

public boolean swingTicks(boolean clockwise,
                          double power,
                          int ticks)

Swings the robot with the given spin and forward power, and for the given tick distance, then stops.

Parameters:

clockwise - true if the robot should swing clockwise, or false if the robot should spin counter-clockwise.

power - the forward power; between -1 and 1.

ticks - the amount of encoder ticks to move for.

Returns:

the success of the operation.

See Also:

swing(boolean, double)

driveInches

public boolean driveInches(double power,
                           double inches)

Drives the robot forward with the given power and for the given distance, then stops.

Parameters:

power - the forward power; between -1 and 1.

inches - the distance to drive forward, in inches.

Returns:

the success of the operation.

rotateDegrees

public boolean rotateDegrees(double power,
                             double degrees)

Spins the robot clockwise with the given power and for the given amount of degrees, then stops.

Parameters:

power - the clockwise power; between -1 and 1.

degrees - the degrees to rotate the robot.

Returns:

the success of the operation.

See Also:

rotate(double)

swingDegrees

public boolean swingDegrees(boolean clockwise,
                            double power,
                            double degrees)

Swings the robot with the given spin and forward power, and for the given amount of degrees, then stops.

Parameters:

clockwise - true if the robot should swing clockwise, or false if the robot should spin counter-clockwise.

power - the forward power; between -1 and 1.

ticks - the amount of encoder ticks to move for.

Returns:

the success of the operation.

See Also:

swing(boolean, double)