Package trclib.drivebase

Class TrcMecanumDriveBase

java.lang.Object

trclib.drivebase.TrcDriveBase

trclib.drivebase.TrcSimpleDriveBase

trclib.drivebase.TrcMecanumDriveBase

All Implemented Interfaces:

TrcExclusiveSubsystem

public class TrcMecanumDriveBase
extends TrcSimpleDriveBase

This class implements a platform independent mecanum drive base. A mecanum drive base consists of 4 motor driven wheels. It extends the TrcSimpleDriveBase class so it inherits all the SimpleDriveBase methods and features.

Nested Class Summary

Nested classes/interfaces inherited from class trclib.drivebase.TrcSimpleDriveBase

TrcSimpleDriveBase.MotorType

Nested classes/interfaces inherited from class trclib.drivebase.TrcDriveBase

TrcDriveBase.DriveOrientation, TrcDriveBase.MotorPowerMapper, TrcDriveBase.MotorsState, TrcDriveBase.Odometry, TrcDriveBase.OdometryType

Nested classes/interfaces inherited from interface trclib.robotcore.TrcExclusiveSubsystem

TrcExclusiveSubsystem.OwnershipParams

Field Summary

Fields

Modifier and Type	Field	Description
private final String	moduleName

Fields inherited from class trclib.drivebase.TrcSimpleDriveBase

lbMotor, lcMotor, lfMotor, rbMotor, rcMotor, rfMotor

Fields inherited from class trclib.drivebase.TrcDriveBase

angleScale, motorPowerMapper, odometry, stallStartTime, stallVelThreshold, tracer, xScale, yScale

Constructor Summary

Constructors

Constructor	Description
TrcMecanumDriveBase(TrcMotor lfMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rbMotor)	Constructor: Create an instance of the 4-wheel mecanum drive base.
TrcMecanumDriveBase(TrcMotor lfMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rbMotor, TrcGyro gyro)	Constructor: Create an instance of the 4-wheel mecanum drive base.

Method Summary

Modifier and Type	Method	Description
protected TrcDriveBase.Odometry	getOdometryDelta(TrcOdometrySensor.Odometry[] prevOdometries, TrcOdometrySensor.Odometry[] currOdometries)	This method is called periodically to calculate the delta between the previous and current motor odometries.
void	holonomicDrive(String owner, double x, double y, double rotation, boolean inverted, double gyroAngle, double driveTime, TrcEvent event)	This method implements holonomic drive where x controls how fast the robot will go in the x direction, and y controls how fast the robot will go in the y direction.
boolean	supportsHolonomicDrive()	This method checks if it supports holonomic drive.

Methods inherited from class trclib.drivebase.TrcSimpleDriveBase

setInvertedMotor, setWheelBaseWidth, tankDrive

Methods inherited from class trclib.drivebase.TrcDriveBase

arcadeDrive, arcadeDrive, arcadeDrive, arcadeDrive, arcadeDrive, clearReferenceOdometry, curveDrive, curveDrive, curveDrive, curveDrive, curveDrive, disableAntiTipping, enableAntiTipping, enableAntiTipping, getAntiTippingPower, getDriveGyroAngle, getDriveOrientation, getFieldPosition, getFieldVelocity, getGyroAssistPower, getHeading, getMotors, getNumMotors, getPositionRelativeTo, getPositionRelativeTo, getReferenceOdometry, getRelativePosition, getRelativeVelocity, getTurnRate, getVelocityRelativeTo, getXPosition, getXVelocity, getYPosition, getYVelocity, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, holonomicDrive_Polar, isAntiTippingEnabled, isGyroAssistEnabled, isStalled, isSynchronizeOdometriesEnabled, popReferenceOdometry, printMotorsState, pushReferenceOdometry, resetOdometry, resetOdometry, resetOdometry, setBrakeMode, setDriveBaseOdometry, setDriveBaseOdometry, setDriveBaseOdometry, setDriveOrientation, setDriveTime, setFieldPosition, setFieldPosition, setGyroAssistEnabled, setInvertedMotor, setMotorPowerMapper, setOdometryEnabled, setOdometryEnabled, setOdometryScales, setOdometryScales, setOdometryScales, setReferenceOdometry, setSensitivity, setStallVelocityThreshold, setSynchronizeOdometriesEnabled, stop, stop, tankDrive, tankDrive, tankDrive, tankDrive, tankDrive

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface trclib.robotcore.TrcExclusiveSubsystem

acquireExclusiveAccess, acquireOwnership, cancelExclusiveAccess, getCurrentOwner, hasOwnership, releaseExclusiveAccess, releaseOwnership, validateOwnership

Field Details

moduleName

private final String moduleName

Constructor Details

TrcMecanumDriveBase

public TrcMecanumDriveBase(TrcMotor lfMotor,
 TrcMotor lbMotor,
 TrcMotor rfMotor,
 TrcMotor rbMotor,
 TrcGyro gyro)

Constructor: Create an instance of the 4-wheel mecanum drive base.

Parameters:

lfMotor - specifies the left front motor of the drive base.

lbMotor - specifies the left back motor of the drive base.

rfMotor - specifies the right front motor of the drive base.

rbMotor - specifies the right back motor of the drive base.

gyro - specifies the gyro. If none, it can be set to null.

TrcMecanumDriveBase

public TrcMecanumDriveBase(TrcMotor lfMotor,
 TrcMotor lbMotor,
 TrcMotor rfMotor,
 TrcMotor rbMotor)

Constructor: Create an instance of the 4-wheel mecanum drive base.

Parameters:

lfMotor - specifies the left front motor of the drive base.

lbMotor - specifies the left back motor of the drive base.

rfMotor - specifies the right front motor of the drive base.

rbMotor - specifies the right back motor of the drive base.

Method Details

supportsHolonomicDrive

public boolean supportsHolonomicDrive()

This method checks if it supports holonomic drive.

Overrides:

supportsHolonomicDrive in class TrcDriveBase

Returns:

true if this drive base supports holonomic drive, false otherwise.

holonomicDrive

public void holonomicDrive(String owner,
 double x,
 double y,
 double rotation,
 boolean inverted,
 double gyroAngle,
 double driveTime,
 TrcEvent event)

This method implements holonomic drive where x controls how fast the robot will go in the x direction, and y controls how fast the robot will go in the y direction. Rotation controls how fast the robot rotates and gyroAngle specifies the heading the robot should maintain.

Overrides:

holonomicDrive in class TrcDriveBase

Parameters:

owner - specifies the ID string of the caller for checking ownership, can be null if caller is not ownership aware.

x - specifies the x power.

y - specifies the y power.

rotation - specifies the rotating power.

inverted - specifies true to invert control (i.e. robot front becomes robot back).

gyroAngle - specifies the gyro angle to maintain.

driveTime - specifies the amount of time in seconds after which the drive base will stop.

event - specifies the event to signal when driveTime has expired, can be null if not provided.

getOdometryDelta

protected TrcDriveBase.Odometry getOdometryDelta(TrcOdometrySensor.Odometry[] prevOdometries,
 TrcOdometrySensor.Odometry[] currOdometries)

This method is called periodically to calculate the delta between the previous and current motor odometries.

Overrides:

getOdometryDelta in class TrcSimpleDriveBase

Parameters:

prevOdometries - specifies the previous motor odometries.

currOdometries - specifies the current motor odometries.

Returns:

an Odometry object describing the odometry changes since the last update.