io.github.thunderbots.lightning.drive

Class MecanumDrive

java.lang.Object

io.github.thunderbots.lightning.drive.DriveSystem

io.github.thunderbots.lightning.drive.MecanumDrive

Direct Known Subclasses:

TankDrive

public class MecanumDrive
extends DriveSystem

A MecanumDrive is a DriveSystem that represents a system using mecanum wheels.

Author:

Zach Ohara

Field Summary

Fields

Modifier and Type	Field and Description
static double	DRIVE_POWER_WEIGHT The relative weight of the forward vector over other vectors.
static double	MOVE_POWER_SCALE The multiplier for all motor powers.
static double	ROTATE_POWER_WEIGHT The relative weight of the clockwise vector over other vectors.
static double	STRAFE_POWER_WEIGHT The relative weight of the right vector over other vectors.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
int	getDriveTicks() Gets the average value in raw ticks of the encoders for driving, assuming the robot is traveling in a straight line.
int	getRotateTicks() Gets the average value in raw ticks of the encoders for driving, assuming the robot is rotating.
int	getSwingTicks(boolean clockwise) Gets the average value in raw ticks of the encoders for driving, assuming the robot is swinging.
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	setMovement(double forward, double right, double clockwise) Sets the power of the motors on the robot so that the robot moves as described by the three vectors.
boolean	strafe(int power) Strafes (moves sideways) with the given power.
boolean	strafeSeconds(int power, float seconds) Strafes (moves sideways) with the given power and for the given amount of time, and then stops.
boolean	traverse(boolean right, int power) Drives and strafes (moves sideways) with the given (equal) power.
boolean	traverseSeconds(boolean right, int power, float seconds) Drives and strafes (moves sideways) with the given (equal) power and for the given amount of time, and then stops.

Methods inherited from class io.github.thunderbots.lightning.drive.DriveSystem

drive, driveInches, driveSeconds, driveTicks, getDriveInches, getMotorSet, getRotationDegrees, getSwingDegrees, halt, resetEncoders, rotate, rotateDegrees, rotateSeconds, rotateTicks, setEncoderTicksPerDriveInch, setEncoderTicksPerRotationDegree, setEncoderTicksPerSwingDegree, swing, swingDegrees, swingSeconds, swingTicks, waitAndStop

Methods inherited from class java.lang.Object

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

Field Detail

MOVE_POWER_SCALE

public static final double MOVE_POWER_SCALE

The multiplier for all motor powers. Decreasing this number can be used to impose speed limits. Increasing this number will yield strange results, so please don't increase this number beyond 1.

See Also:

Constant Field Values

DRIVE_POWER_WEIGHT

public static final double DRIVE_POWER_WEIGHT

The relative weight of the forward vector over other vectors. Increasing this number will make the forward/backward movement more responsive, but at the expense of making the other vectors less responsive.

See Also:

Constant Field Values

STRAFE_POWER_WEIGHT

public static final double STRAFE_POWER_WEIGHT

The relative weight of the right vector over other vectors. Increasing this number will make the left/right movement more responsive, but at the expense of making the other vectors less responsive.

See Also:

Constant Field Values

ROTATE_POWER_WEIGHT

public static final double ROTATE_POWER_WEIGHT

The relative weight of the clockwise vector over other vectors. Increasing this number will make spinning responsive, but at the expense of making the other vectors less responsive.

See Also:

Constant Field Values

Constructor Detail

MecanumDrive

public MecanumDrive(MotorSet wheels)

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

Parameters:

wheels - the DriveMotorSet of this drive system.

See Also:

DriveSystem.DriveSystem(MotorSet)

MecanumDrive

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

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

Parameters:

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

See Also:

DriveSystem.DriveSystem(String[])

Method Detail

setMovement

public boolean setMovement(double forward,
                           double clockwise)

Description copied from class: DriveSystem

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

Specified by:

setMovement in class DriveSystem

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.

strafe

public boolean strafe(int power)

Strafes (moves sideways) with the given power.

Parameters:

power - the right-facing power; between -1 and 1.

Returns:

the success of the operation.

traverse

public boolean traverse(boolean right,
                        int power)

Drives and strafes (moves sideways) with the given (equal) power.

Parameters:

right - true if the robot should strafe to the right, or false if the robot should strafe to the left.

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

Returns:

the success of the operation.

strafeSeconds

public boolean strafeSeconds(int power,
                             float seconds)

Strafes (moves sideways) with the given power and for the given amount of time, and then stops.

Parameters:

power - the right-facing power; between -1 and 1.

seconds - the time to move for.

Returns:

the success of the operation.

traverseSeconds

public boolean traverseSeconds(boolean right,
                               int power,
                               float seconds)

Drives and strafes (moves sideways) with the given (equal) power and for the given amount of time, and then stops.

Parameters:

right - true if the robot should strafe to the right, or false if the robot should strafe to the left.

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

seconds - the time to move for.

Returns:

the success of the operation.

setMovement

public boolean setMovement(double forward,
                           double right,
                           double clockwise)

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

Parameters:

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

right - the right-strafing vector; between -1 and 1.

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

Returns:

the success of the operation.

getDriveTicks

public int getDriveTicks()

Description copied from class: DriveSystem

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

Specified by:

getDriveTicks in class DriveSystem

Returns:

the average value of the encoders for driving.

getRotateTicks

public int getRotateTicks()

Description copied from class: DriveSystem

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

Specified by:

getRotateTicks in class DriveSystem

Returns:

the average value of the encoders for rotating.

getSwingTicks

public int getSwingTicks(boolean clockwise)

Description copied from class: DriveSystem

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

Specified by:

getSwingTicks in class DriveSystem

Returns:

the average value of the encoders for swinging.