LRT13  1.0
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DriveEncoders Class Reference

Class to keep track of drivetrain encoders. More...

#include <DriveEncoders.h>

Inheritance diagram for DriveEncoders:
Configurable Loggable

Public Member Functions

virtual ~DriveEncoders ()
 Destructor.
 
virtual void Configure ()
 Configures overall settings.
 
virtual void Log ()
 logs data to the smartdashboard
 
double getMaxEncoderRate ()
 Gets the fastest attainable encoder rate.
 
double getMaxSpeed ()
 Gets the fastest attainable encoder rate.
 
double getMaxTurnRate ()
 Gets the fastest attainable encoder rate.
 
double GetRawForwardSpeed ()
 Get non-normalized average forward speed.
 
double getNormalizedForwardSpeed ()
 Get normalized average forward speed.
 
double getRawTurningSpeed ()
 Get non-normalized turning speed.
 
double getNormalizedTurningSpeed ()
 Get normalized turning speed assuming high gear.
 
double getRobotDist ()
 Get robot traveled distance in engineering units.
 
int getTurnTicks ()
 Get number of ticks during turn.
 
double getTurnRevolutions ()
 Get number of revolutions during turn.
 
double getTurnAngle ()
 Get calibrated turning angle.
 
double getWheelDist (data::drivetrain::Side side)
 Get the distance of a particular wheel.
 
double getNormalizedSpeed (data::drivetrain::Side side)
 Normalized speed of a particular side.
 
double getTurnRadius ()
 Arc radius calculated from turn and forward speed, defined as distance between the center of rotation and the center of the robot.
 
LRTEncodergetEncoder (data::drivetrain::Side side)
 access the LRT Encoder.
 

Static Public Member Functions

static DriveEncodersGetInstance ()
 Gets the singleton instance.
 
static void Finalize ()
 Destruct instance.
 

Detailed Description

Class to keep track of drivetrain encoders.

Member Function Documentation

DriveEncoders * DriveEncoders::GetInstance ( )
static

Gets the singleton instance.

Returns
the instance
double DriveEncoders::getMaxEncoderRate ( )

Gets the fastest attainable encoder rate.

Returns
maxEncoderRate
double DriveEncoders::getMaxSpeed ( )

Gets the fastest attainable encoder rate.

Returns
maxEncoderRate
double DriveEncoders::getMaxTurnRate ( )

Gets the fastest attainable encoder rate.

Returns
maxEncoderRate
double DriveEncoders::getNormalizedForwardSpeed ( )

Get normalized average forward speed.

Returns
forward speed
double DriveEncoders::getNormalizedSpeed ( data::drivetrain::Side  side)

Normalized speed of a particular side.

Parameters
whichside
Returns
normalized speed of that side
double DriveEncoders::getNormalizedTurningSpeed ( )

Get normalized turning speed assuming high gear.

Returns
turning speed
double DriveEncoders::GetRawForwardSpeed ( )

Get non-normalized average forward speed.

Returns
forward speed
double DriveEncoders::getRawTurningSpeed ( )

Get non-normalized turning speed.

Returns
turning speed
double DriveEncoders::getRobotDist ( )

Get robot traveled distance in engineering units.

Returns
distance in inches (iff properly calibrated)
double DriveEncoders::getTurnAngle ( )

Get calibrated turning angle.

Returns
turn agnle
double DriveEncoders::getTurnRadius ( )

Arc radius calculated from turn and forward speed, defined as distance between the center of rotation and the center of the robot.

Returns
radius of turn
double DriveEncoders::getTurnRevolutions ( )

Get number of revolutions during turn.

Returns
turn revolutions
int DriveEncoders::getTurnTicks ( )

Get number of ticks during turn.

Returns
turn ticks
double DriveEncoders::getWheelDist ( data::drivetrain::Side  side)

Get the distance of a particular wheel.

************* Distance functions **************************************/

Parameters
sideLEFT or RIGHT
Returns

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