io.github.thunderbots.lightning.drive

Class TankDrive

java.lang.Object

io.github.thunderbots.lightning.drive.DriveSystem

io.github.thunderbots.lightning.drive.MecanumDrive

io.github.thunderbots.lightning.drive.TankDrive

public class TankDrive
extends MecanumDrive

A TankDrive is a DriveSystem that represents a standard tank drive system, with standard parallel wheels on both sides of the robot.

The TankDrive class is a subclass of MecanumDrive for technical reasons. The code that controls a tank drive system is exactly the same as the code that controls a mecanum drive system, with the one difference being that the strafing vector must be zero if the physical robot does not use mecanum drive. The inheritance relationship is purely functional, not symbolic.

Author:

Zach Ohara

Field Summary

Fields inherited from class io.github.thunderbots.lightning.drive.MecanumDrive

DRIVE_POWER_WEIGHT, MOVE_POWER_SCALE, ROTATE_POWER_WEIGHT, STRAFE_POWER_WEIGHT

Constructor Summary

Constructors

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

Method Summary

Modifier and Type

Method and Description

boolean

setMovement(double forward, double right, double clockwise) Deprecated. A tank drive system cannot accept a right-facing vector as an argument for movement. The purpose of this method is only to filter out any possible right-facing, non-zero vector argument to prevent damage to the physical motors. Instead of this method, use the two-argument version, which accepts only forward and clockwise vectors. This method is declared in DriveSystem and implemented in MecanumDrive.

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

getDriveTicks, getRotateTicks, getSwingTicks, setMovement, strafe, strafeSeconds, traverse, traverseSeconds

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

Constructor Detail

TankDrive

public TankDrive(MotorSet wheels)

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

Parameters:

wheels - the DriveMotorSet of this drive system.

See Also:

DriveSystem.DriveSystem(MotorSet)

TankDrive

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

Constructs a new TankDrive 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

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

Deprecated. A tank drive system cannot accept a right-facing vector as an argument for movement. The purpose of this method is only to filter out any possible right-facing, non-zero vector argument to prevent damage to the physical motors.

Instead of this method, use the two-argument version, which accepts only forward and clockwise vectors. This method is declared in DriveSystem and implemented in MecanumDrive.

Description copied from class: MecanumDrive

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

Overrides:

setMovement in class MecanumDrive

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.