47 lines
1.7 KiB
C++
47 lines
1.7 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/skidSteerModel.hpp"
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namespace okapi {
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class ThreeEncoderSkidSteerModel : public SkidSteerModel {
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public:
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/**
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* Model for a skid steer drive (wheels parallel with robot's direction of motion). When all
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* motors are powered +127, the robot should move forward in a straight line.
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*
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* @param ileftSideMotor left side motor
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* @param irightSideMotor right side motor
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* @param ileftEnc left side encoder
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* @param imiddleEnc middle encoder (mounted perpendicular to the left and right side encoders)
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* @param irightEnc right side encoder
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*/
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ThreeEncoderSkidSteerModel(std::shared_ptr<AbstractMotor> ileftSideMotor,
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std::shared_ptr<AbstractMotor> irightSideMotor,
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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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