Drive.h

Drive.h#

Description#

Constants#

  • The following constants are #defined in Drive.h:

    Constant

    Value

    NUM_MOTORS

    2

    ACCELERATION_RATE

    0.00375f

    RB_ACCELERATION_RATE

    0.0015f

    BRAKE_PERCENTAGE

    0.9

    TIME_INCREMENT

    5

    NORMAL_TURN_CONSTANT

    0.05

    TANK_MODE_PCT

    0.75

    RB_TANK_MODE_PCT

    0.5

    DRIFT_MODE_PCT

    0.8

    STICK_DEADZONE

    0.075

    THRESHOLD

    0.00001

    FALCON_CALIBRATION_FACTOR

    1.0f

    MOTOR_ZERO_OFFSET

    0.05f

    SMALL_12V_BOOST_PCT

    0.15f

    SMALL_12V_NORMAL_PCT

    0.1f

    SMALL_12V_SLOW_PCT

    0.05f

    BRAKE_BUTTON_PCT

    0

  • The speed scalar values (boost, normal, and slow) are also defined for each motor type.

Drive Class#

  • Notable class fields include:

    • the robot type (BotType)

    • the motor type (MotorType)

    • drive parameters

    • turn adjustment variables

    • stickForwardRev and stickTurn

    • requestedMotorPower, turnMotorValues, and lastRampPower (all arrays with a size equal to NUM_MOTORS)

  • The Speed (BNS) enum is defined with values BOOST, NORMAL, SLOW, BRAKE.

  • Functions defined in Drive.cpp are prototyped.

Included Headers#