51 lines
1.8 KiB
C++
51 lines
1.8 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/chassis/model/xDriveModel.hpp"
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namespace okapi {
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class ThreeEncoderXDriveModel : public XDriveModel {
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public:
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/**
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* Model for an x drive (wheels at 45 deg from a skid steer drive). When all motors are powered
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* +100%, the robot should move forward in a straight line.
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*
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* @param itopLeftMotor The top left motor.
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* @param itopRightMotor The top right motor.
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* @param ibottomRightMotor The bottom right motor.
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* @param ibottomLeftMotor The bottom left motor.
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* @param ileftEnc The left side encoder.
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* @param irightEnc The right side encoder.
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* @param imiddleEnc The middle encoder.
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*/
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ThreeEncoderXDriveModel(std::shared_ptr<AbstractMotor> itopLeftMotor,
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std::shared_ptr<AbstractMotor> itopRightMotor,
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std::shared_ptr<AbstractMotor> ibottomRightMotor,
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std::shared_ptr<AbstractMotor> ibottomLeftMotor,
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std::shared_ptr<ContinuousRotarySensor> ileftEnc,
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std::shared_ptr<ContinuousRotarySensor> irightEnc,
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std::shared_ptr<ContinuousRotarySensor> imiddleEnc,
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double imaxVelocity,
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double imaxVoltage);
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/**
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* Read the sensors.
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*
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* @return sensor readings in the format {left, right, middle}
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*/
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std::valarray<std::int32_t> getSensorVals() const override;
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/**
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* Reset the sensors to their zero point.
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*/
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void resetSensors() override;
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protected:
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std::shared_ptr<ContinuousRotarySensor> middleSensor;
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};
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} // namespace okapi
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