Class containing left and right drivetrain encoders.
More...
#include <DriveEncoders.h>
|
static double | GetMaxEncoderRate () |
| Gets the fastest attainable encoder rate.
|
|
static double | GetMaxSpeed () |
| Gets the fastest attainable encoder rate.
|
|
static double | GetMaxTurnRate () |
| Gets the fastest attainable turning rate.
|
|
|
template<typename T > |
void | LogToFile (T *field, std::string name) |
| Saves a variable to the Logger for logging.
|
|
template<typename T > |
void | LogToFile (T *field, int count, std::string name) |
| Saves a dynamically allocated array to the Logger for logging.
|
|
template<typename T > |
void | LogToFile (T value, std::string name) |
| Saves a value to the Logger for logging.
|
|
Class containing left and right drivetrain encoders.
LRTEncoder * DriveEncoders::GetEncoder |
( |
Side |
side | ) |
|
double DriveEncoders::GetMaxEncoderRate |
( |
| ) |
|
|
static |
Gets the fastest attainable encoder rate.
- Returns
- maxEncoderRate
double DriveEncoders::GetMaxSpeed |
( |
| ) |
|
|
static |
Gets the fastest attainable encoder rate.
- Returns
- fastest possible encoder pulse rate
double DriveEncoders::GetMaxTurnRate |
( |
| ) |
|
|
static |
Gets the fastest attainable turning rate.
- Returns
- fastest possible turning rate
double DriveEncoders::GetNormalizedForwardSpeed |
( |
| ) |
|
Get normalized average forward speed.
- Returns
- normalized forward speed
double DriveEncoders::GetNormalizedSpeed |
( |
Side |
side | ) |
|
Normalized speed of a side.
- Parameters
-
- Returns
- normalized speed of the 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 (if 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. Counter-clockwise is positive, clockwise is negative.
- Returns
- turn revolutions
int DriveEncoders::GetTurnTicks |
( |
| ) |
|
Get number of ticks during turn.
- Returns
- turn ticks
double DriveEncoders::GetWheelDist |
( |
Side |
side | ) |
|
Get the distance travelled by a wheel.
- Parameters
-
- Returns
- the distance of the wheel
The documentation for this class was generated from the following files: