Class to keep track of drivetrain encoders.
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#include <DriveEncoders.h>
Class to keep track of drivetrain encoders.
Gets the singleton instance.
- Returns
- the instance
double DriveEncoders::getMaxEncoderRate |
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Gets the fastest attainable encoder rate.
- Returns
- maxEncoderRate
double DriveEncoders::getMaxSpeed |
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Gets the fastest attainable encoder rate.
- Returns
- maxEncoderRate
double DriveEncoders::getMaxTurnRate |
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Gets the fastest attainable encoder rate.
- Returns
- maxEncoderRate
double DriveEncoders::getNormalizedForwardSpeed |
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Get normalized average forward speed.
- Returns
- forward speed
double DriveEncoders::getNormalizedSpeed |
( |
data::drivetrain::Side |
side | ) |
|
Normalized speed of a particular side.
- Parameters
-
- Returns
- normalized speed of that side
double DriveEncoders::getNormalizedTurningSpeed |
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Get normalized turning speed assuming high gear.
- Returns
- turning speed
double DriveEncoders::GetRawForwardSpeed |
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Get non-normalized average forward speed.
- Returns
- forward speed
double DriveEncoders::getRawTurningSpeed |
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Get non-normalized turning speed.
- Returns
- turning speed
double DriveEncoders::getRobotDist |
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Get robot traveled distance in engineering units.
- Returns
- distance in inches (iff properly calibrated)
double DriveEncoders::getTurnAngle |
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Get calibrated turning angle.
- Returns
- turn agnle
double DriveEncoders::getTurnRadius |
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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 |
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Get number of revolutions during turn.
- Returns
- turn revolutions
int DriveEncoders::getTurnTicks |
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Get number of ticks during turn.
- Returns
- turn ticks
double DriveEncoders::getWheelDist |
( |
data::drivetrain::Side |
side | ) |
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Get the distance of a particular wheel.
************* Distance functions **************************************/
- Parameters
-
- Returns
The documentation for this class was generated from the following files: