Drive.cpp

Drive.cpp#

Description#

  • This file, which contains the functions of the Drive class, controls several parameters related to the driving of the robots. The purpose of this code is to ensure that the robots respond appropriately to controller input. Based on stick inputs from a controller, this code will alter the speed of a robot’s motors. The code also incorporates ramping to ensure that the robots don’t lose control due to the motors starting up too quickly.

  • This code is intended to be used with robots featuring the standard lineman configuration, with the back left wheel connected to a left motor, the back right wheel connected to a right motor, and the front wheel(s) not connected to any motor.

Functions#

Name

Description

Drive

The constructor for the Drive class. Parameters include robot type, drive parameters, whether the robot has encoders, and which turn function to use.

setupMotors

Performs setup for the motors, initializing the Motor objects and calling attach on the appropriate Arduino pins.

setMotorType

Sets the drive motor type. Presently unused.

setStickPwr

Used to retrieve the values from the joysticks of the PS5 controller. These are normalized and constrained to [-1, 1] before using them for drive control. The left stick Y-axis is used for speed (stickForwardRev) and the right stick X-axis is used for turning (stickTurn).

getForwardPower

Returns stickForwardRev.

getTurnPower

Returns stickTurn.

setSpeedScalar

Adjusts the Speed (scalar) of the drive loop (boost, normal, slow, or brake).

setSpeedValue

Directly adjusts the speed scalar to a non-predefined value, constrained to [-1, 1].

getSpeedScalar

Returns the current speed scalar.

generateMotionValues

Called during the drive loop, i.e., in update(). Generates the requestedMotorPower (pre-ramping) based on the stick inputs.

calcTurning

Called in generateMotionValues(). Updates the turnMotorValues based on the value of stickTurn to enable turning.

emergencyStop

Immediately write zero power to both motors.

printSetup

Debug function to print all relevant parameters.

update

The primary drive function to be called in the main loop(). Takes requestedMotorPower for each motor, ramps individually, and write the percentage power to the Motor object.

getMotorWifiValue

Used to retrieve the motor power for transmission between Quarterback V3 base and turret for stabilization.

Included Headers#