Package trclib.drivebase

Class TrcSimpleDriveBase

java.lang.Object

trclib.drivebase.TrcDriveBase

trclib.drivebase.TrcSimpleDriveBase

All Implemented Interfaces:

TrcExclusiveSubsystem

Direct Known Subclasses:

TrcMecanumDriveBase, TrcSwerveDriveBase

public class TrcSimpleDriveBase
extends TrcDriveBase

This class implements a platform independent simple drive base. The SimpleDriveBase class implements a drive train that may consist of 2 to 6 motors. It supports tank drive, curve drive and arcade drive with motor stalled detection and inverted drive mode. It also supports gyro assisted drive to keep robot driving straight.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	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
protected final TrcMotor	lbMotor
protected final TrcMotor	lcMotor
protected final TrcMotor	lfMotor
private final String	moduleName
protected final TrcMotor	rbMotor
protected final TrcMotor	rcMotor
protected final TrcMotor	rfMotor

Fields inherited from class trclib.drivebase.TrcDriveBase

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

Constructor Summary

Constructors

Constructor	Description
TrcSimpleDriveBase(TrcMotor leftMotor, TrcMotor rightMotor)	Constructor: Create an instance of a 2-wheel drive base.
TrcSimpleDriveBase(TrcMotor lfMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rbMotor)	Constructor: Create an instance of a 4-wheel drive base.
TrcSimpleDriveBase(TrcMotor lfMotor, TrcMotor lcMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rcMotor, TrcMotor rbMotor)	Constructor: Create an instance of a 6-wheel drive base.
TrcSimpleDriveBase(TrcMotor lfMotor, TrcMotor lcMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rcMotor, TrcMotor rbMotor, TrcGyro gyro)	Constructor: Create an instance of a 6-wheel drive base.
TrcSimpleDriveBase(TrcMotor lfMotor, TrcMotor lbMotor, TrcMotor rfMotor, TrcMotor rbMotor, TrcGyro gyro)	Constructor: Create an instance of a 4-wheel drive base.
TrcSimpleDriveBase(TrcMotor leftMotor, TrcMotor rightMotor, TrcGyro gyro)	Constructor: Create an instance of a 2-wheel 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	setInvertedMotor(TrcSimpleDriveBase.MotorType motorType, boolean inverted)	This method inverts direction of a given motor in the drive train.
void	setWheelBaseWidth(double width)	This method sets the wheel base width of the robot drive base.
void	tankDrive(String owner, double leftPower, double rightPower, boolean inverted, double driveTime, TrcEvent event)	This method implements tank drive where leftPower controls the left motors and right power controls the right motors.

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, 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, supportsHolonomicDrive, 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

lfMotor

protected final TrcMotor lfMotor

rfMotor

protected final TrcMotor rfMotor

lbMotor

protected final TrcMotor lbMotor

rbMotor

protected final TrcMotor rbMotor

lcMotor

protected final TrcMotor lcMotor

rcMotor

protected final TrcMotor rcMotor

Constructor Details

TrcSimpleDriveBase

public TrcSimpleDriveBase(TrcMotor lfMotor,
 TrcMotor lcMotor,
 TrcMotor lbMotor,
 TrcMotor rfMotor,
 TrcMotor rcMotor,
 TrcMotor rbMotor,
 TrcGyro gyro)

Constructor: Create an instance of a 6-wheel drive base.

Parameters:

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

lcMotor - specifies the left center motor of a 6-wheel drive base.

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

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

rcMotor - specifies the right center motor of a 6-wheel drive base.

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

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

TrcSimpleDriveBase

public TrcSimpleDriveBase(TrcMotor lfMotor,
 TrcMotor lcMotor,
 TrcMotor lbMotor,
 TrcMotor rfMotor,
 TrcMotor rcMotor,
 TrcMotor rbMotor)

Constructor: Create an instance of a 6-wheel drive base.

Parameters:

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

lcMotor - specifies the left center motor of a 6-wheel drive base.

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

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

rcMotor - specifies the right center motor of a 6-wheel drive base.

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

TrcSimpleDriveBase

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

Constructor: Create an instance of a 4-wheel 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.

TrcSimpleDriveBase

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

Constructor: Create an instance of a 4-wheel 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.

TrcSimpleDriveBase

public TrcSimpleDriveBase(TrcMotor leftMotor,
 TrcMotor rightMotor,
 TrcGyro gyro)

Constructor: Create an instance of a 2-wheel drive base.

Parameters:

leftMotor - specifies the left motor of the drive base.

rightMotor - specifies the right motor of the drive base.

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

TrcSimpleDriveBase

public TrcSimpleDriveBase(TrcMotor leftMotor,
 TrcMotor rightMotor)

Constructor: Create an instance of a 2-wheel drive base.

Parameters:

leftMotor - specifies the left motor of the drive base.

rightMotor - specifies the right motor of the drive base.

Method Details

setWheelBaseWidth

public void setWheelBaseWidth(double width)

This method sets the wheel base width of the robot drive base.

Parameters:

width - specifies the wheel base width.

setInvertedMotor

public void setInvertedMotor(TrcSimpleDriveBase.MotorType motorType,
 boolean inverted)

This method inverts direction of a given motor in the drive train.

Parameters:

motorType - specifies the motor in the drive train.

inverted - specifies true if inverting motor direction.

tankDrive

public void tankDrive(String owner,
 double leftPower,
 double rightPower,
 boolean inverted,
 double driveTime,
 TrcEvent event)

This method implements tank drive where leftPower controls the left motors and right power controls the right motors.

Specified by:

tankDrive in class TrcDriveBase

Parameters:

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

leftPower - specifies left power value.

rightPower - specifies right power value.

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

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.

Specified by:

getOdometryDelta in class TrcDriveBase

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.