drivetrain.cpp

Go to the documentation of this file.

#include "robot/drivetrain.h"
 
#include "globals.h"
 
using namespace Robot;
using namespace Robot::Globals;
 
Drivetrain::DRIVE_MODE Drivetrain::driveMode = CURVATURE_DRIVE;
 
Drivetrain::Drivetrain()
{
   Drivetrain::driveMode = CURVATURE_DRIVE;
}
 
void Drivetrain::CurvatureDrive()
{
   int left  = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
 
   chassis.curvature(left, right);
 
   pros::delay(15);
}
 
void Drivetrain::ArcadeDrive()
{
   // Arcade Measurements
   int left  = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_X);
 
   chassis.arcade(left, right, false, 0.6);
 
   pros::delay(15);
}
 
void Drivetrain::TankDrive()
{
   int left  = controller.get_analog(pros::E_CONTROLLER_ANALOG_LEFT_Y);
   int right = controller.get_analog(pros::E_CONTROLLER_ANALOG_RIGHT_Y);
 
   chassis.tank(left, right);
 
   pros::delay(15);
}
 
 
// Run the drivetrain depending on the control mode
void Drivetrain::run()
{
   switch (Drivetrain::driveMode) {
   case CURVATURE_DRIVE:
      Drivetrain::CurvatureDrive();
      break;
   case ARCADE_DRIVE:
      Drivetrain::ArcadeDrive();
      break;
   case TANK_DRIVE:
      Drivetrain::TankDrive();
      break;
   }
}
 
// Cycle through each drivetrain control mode, overflows back to 0
std::string Drivetrain::toggleDrive()
{
   int driveMode = (Drivetrain::driveMode + 1) % (TANK_DRIVE + 1);
   return SwitchDrive(driveMode);
}
 
// Switch the drivetrain control mode between arcade and tank drive with the down button(between 1 and 2)
std::string Drivetrain::SwitchDrive(int driveMode)
{
   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!";
   }
}