Robot::Drivetrain Class Reference

Represents the drivetrain of the robot. More...

#include <drivetrain.h>

Public Types
enum	DRIVE_MODE { CURVATURE_DRIVE = 0 , ARCADE_DRIVE = 1 , TANK_DRIVE = 2 }
	Drive control schemes. More...

Public Member Functions
	Drivetrain ()
	Initializes the Drivetrain object.
void	run ()
	Runs the drivetrain.

Static Public Member Functions
static std::string	SwitchDrive (int driveMode)
	Switches the DriveTrain mode between arcade and tank drive.
static std::string	toggleDrive ()
	Cycles through each drivetrain control mode.
static int	thrustHandler (int thrust)
	Toggles the orientation of the drivetrain.

Static Public Attributes
static DRIVE_MODE	driveMode = CURVATURE_DRIVE
	Active drive control scheme.
static bool	isReversed = false

Private Member Functions
void	ArcadeDrive ()
	Drives the robot using arcade drive.
void	CurvatureDrive ()
	Drives the robot using curvature drive.
void	TankDrive ()
	Drives the robot using tank drive.

Detailed Description

Represents the drivetrain of the robot.

The Drivetrain class is responsible for controlling the movement of the robot's drivetrain. It provides functions to interpret joystick inputs and convert them into appropriate drivetrain movements. The drivetrain can be controlled using different drive modes, such as tank drive or arcade drive.

The Drivetrain class also allows setting and retrieving the dead zone value for the joystick. The dead zone is a range around the joystick's resting position where no movement is registered. By adjusting the dead zone value, the sensitivity of the joystick inputs can be fine-tuned.

Definition at line 26 of file drivetrain.h.

Member Enumeration Documentation

DRIVE_MODE

enum Robot::Drivetrain::DRIVE_MODE

Drive control schemes.

Data type representing all possible driving control schemes that can be used on the robot. Multiple drive modes can be used during runtime without recompilation.

Enumerator
CURVATURE_DRIVE
ARCADE_DRIVE
TANK_DRIVE

Definition at line 42 of file drivetrain.h.

{ CURVATURE_DRIVE = 0, ARCADE_DRIVE = 1, TANK_DRIVE = 2 };

Constructor & Destructor Documentation

Drivetrain()

Drivetrain::Drivetrain

(

)

Initializes the Drivetrain object.

This constructor is responsible for initializing the Drivetrain object and setting default values.

Definition at line 13 of file drivetrain.cpp.

{}

Member Function Documentation

ArcadeDrive()

void Drivetrain::ArcadeDrive ( )

private

Drives the robot using arcade drive.

Arcade drive uses the left joystick for forward and backward movement, and the right joystick for left and right movement.

Definition at line 30 of file drivetrain.cpp.

                             {
   // Arcade Measurements
   int throttle = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int turn = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
 
   // Makes the turning of the robot even more controlled when the thrust is 0, as the robot's turning is proportional to
   // the thrust of the robot has no thrust. Based on an exponential drive curve.   
   if (throttle <= 1) {
      turn = std::round(arcade_turn_curve.curve(turn));
   }
 
   chassis.arcade(thrustHandler(throttle), thrustHandler(turn), false, 0.55);
 
   pros::delay(DEFAULT_DELAY_LENGTH);
}

References Robot::Globals::arcade_turn_curve(), Robot::Globals::chassis(), Robot::Globals::controller(), DEFAULT_DELAY_LENGTH, and thrustHandler().

Referenced by run().

CurvatureDrive()

void Drivetrain::CurvatureDrive ( )

private

Drives the robot using curvature drive.

Curvature drive applies curvature to turns and a negative inertia accumulator.

Definition at line 15 of file drivetrain.cpp.

                                {
   int throttle = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int turn = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
 
   // Makes the turning of the robot even more controlled when the thrust is 0, as the robot's turning is proportional to
   // the thrust of the robot has no thrust. Based on an exponential drive curve.   
   if (throttle <= 1) {
      turn = std::round(arcade_turn_curve.curve(turn));
   }
 
   chassis.curvature(thrustHandler(throttle), thrustHandler(turn));
 
   pros::delay(DEFAULT_DELAY_LENGTH);
}

References Robot::Globals::arcade_turn_curve(), Robot::Globals::chassis(), Robot::Globals::controller(), DEFAULT_DELAY_LENGTH, and thrustHandler().

Referenced by run().

run()

void Drivetrain::run

(

)

Runs the drivetrain.

This function is responsible for controlling the movement of the robot's drivetrain. It executes the necessary actions to make the robot move according to the current drive mode.

The drivetrain can be controlled using different drive modes, such as tank drive or arcade drive. This function implements the logic to interpret the joystick inputs and convert them into appropriate drivetrain movements.

Definition at line 57 of file drivetrain.cpp.

                     {
   switch (Drivetrain::driveMode) {
   case CURVATURE_DRIVE:
      Drivetrain::CurvatureDrive();
      break;
   case ARCADE_DRIVE:
      Drivetrain::ArcadeDrive();
      break;
   case TANK_DRIVE:
      Drivetrain::TankDrive();
      break;
   }
}

References ARCADE_DRIVE, ArcadeDrive(), CURVATURE_DRIVE, CurvatureDrive(), driveMode, TANK_DRIVE, and TankDrive().

SwitchDrive()

std::string Drivetrain::SwitchDrive ( int driveMode )

static

Switches the DriveTrain mode between arcade and tank drive.

The drive mode determines how the drivetrain interprets the joystick inputs. Arcade drive uses the left joystick for forward and backward movement, and the right joystick for left and right movement. Tank drive uses the left and right joysticks for controlling the left and right sides of the robot.

Definition at line 86 of file drivetrain.cpp.

                                               {
   switch (driveMode) {
   case 0:
      Drivetrain::driveMode = CURVATURE_DRIVE;
      std::cout << "Curvature Drive" << std::endl;
      return "Curvature Drive";
   case 1:
      Drivetrain::driveMode = ARCADE_DRIVE;
      std::cout << "Arcade Drive" << std::endl;
      return "Arcade Drive";
   case 2:
      Drivetrain::driveMode = TANK_DRIVE;
      std::cout << "Tank Drive" << std::endl;
      return "Tank Drive";
   default:
      std::cout << "Not a valid drivetrain control mode!" << std::endl;
      return "Not a valid driveMode!";
   }
}

References ARCADE_DRIVE, CURVATURE_DRIVE, driveMode, and TANK_DRIVE.

Referenced by toggleDrive().

TankDrive()

void Drivetrain::TankDrive ( )

private

Drives the robot using tank drive.

Tank drive uses the left and right joysticks for controlling the left and right sides of the robot.

Definition at line 46 of file drivetrain.cpp.

                           {
   int throttle = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int turn = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
   
 
   chassis.tank(thrustHandler(throttle), thrustHandler(turn));
 
   pros::delay(DEFAULT_DELAY_LENGTH);
}

References Robot::Globals::chassis(), Robot::Globals::controller(), DEFAULT_DELAY_LENGTH, and thrustHandler().

Referenced by run().

thrustHandler()

int Drivetrain::thrustHandler ( int thrust )

static

Toggles the orientation of the drivetrain.

Definition at line 77 of file drivetrain.cpp.

                                        {
   if (Drivetrain::isReversed) {
      // Sets each motor to its opposite direction - see globals.cpp for motor ports
      return thrust * -1;
   }
   return thrust;
}

References isReversed.

Referenced by ArcadeDrive(), CurvatureDrive(), and TankDrive().

toggleDrive()

std::string Drivetrain::toggleDrive ( )

static

Cycles through each drivetrain control mode.

Definition at line 72 of file drivetrain.cpp.

                                  {
   int driveMode = (Drivetrain::driveMode + 1) % (TANK_DRIVE + 1);
   return SwitchDrive(driveMode);
}

References driveMode, SwitchDrive(), and TANK_DRIVE.

Member Data Documentation

driveMode

Drivetrain::DRIVE_MODE Drivetrain::driveMode = CURVATURE_DRIVE

static

Active drive control scheme.

Definition at line 47 of file drivetrain.h.

Referenced by run(), SwitchDrive(), and toggleDrive().

isReversed

bool Drivetrain::isReversed = false

static

Definition at line 82 of file drivetrain.h.

Referenced by thrustHandler().

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

• include/robot/drivetrain.h
• src/subsystems/drivetrain.cpp