arpirobot::ArcadeDriveHelper Class Reference

#include <arpirobot/core/drive/ArcadeDriveHelper.hpp>

Public Member Functions
	ArcadeDriveHelper (MotorController &leftMotor, MotorController &rightMotor)
	ArcadeDriveHelper (std::shared_ptr< MotorController > leftMotor, std::shared_ptr< MotorController > rightMotor)
	ArcadeDriveHelper (std::vector< std::reference_wrapper< MotorController >> leftMotors, std::vector< std::reference_wrapper< MotorController >> rightMotors)
	ArcadeDriveHelper (std::vector< std::shared_ptr< MotorController >> leftMotors, std::vector< std::shared_ptr< MotorController >> rightMotors)
void	updateSpeed (double newSpeed)
void	updateRotation (double newRotation)
void	update (double newSpeed, double newRotation)

Detailed Description

Drive helper for arcade drive method.

Drive helpers calculate speeds for each motor based on a set of inputs and update all motors speeds at once. Arcade drive uses two inputs: speed and rotation.

Constructor & Destructor Documentation

ArcadeDriveHelper() [1/4]

arpirobot::ArcadeDriveHelper::ArcadeDriveHelper	(	MotorController &	leftMotor,
		MotorController &	rightMotor
	)

Parameters

leftMotor	A singular left side motor (reference, must remain in scope)
rightMotor	A singular right side motor (reference, must remain in scope)

ArcadeDriveHelper() [2/4]

arpirobot::ArcadeDriveHelper::ArcadeDriveHelper	(	std::shared_ptr< MotorController >	leftMotor,
		std::shared_ptr< MotorController >	rightMotor
	)

Parameters

leftMotor	A singular left side motor (shared_ptr)
rightMotor	A singular right side motor (shared_ptr)

ArcadeDriveHelper() [3/4]

arpirobot::ArcadeDriveHelper::ArcadeDriveHelper	(	std::vector< std::reference_wrapper< MotorController >>	leftMotors,
		std::vector< std::reference_wrapper< MotorController >>	rightMotors
	)

Parameters

leftMotors	A set of left motors (references, must remain in scope)
rightMotors	A set of right motors (references, must remain in scope)

ArcadeDriveHelper() [4/4]

arpirobot::ArcadeDriveHelper::ArcadeDriveHelper	(	std::vector< std::shared_ptr< MotorController >>	leftMotors,
		std::vector< std::shared_ptr< MotorController >>	rightMotors
	)

Parameters

leftMotors	A set of left motors (shared_ptrs)
rightMotors	A set of right motors (shared_ptrs)

Member Function Documentation

update()

void arpirobot::ArcadeDriveHelper::update	(	double	newSpeed,
		double	newRotation
	)

Set a new speed and rotation value at the same time. Speeds will be re-calculated and updated for each motor. If updating both values use this instead of calling updateSpeed and updateRotation because this will only recalculate motor speeds once.

Parameters

newSpeed	the new speed (-1.0 to 1.0)
newRotation	the new rotation (-1.0 to 1.0)

updateRotation()

void arpirobot::ArcadeDriveHelper::updateRotation

(

double

newRotation

)

Set a new rotation value. Speeds will be re-calculated and updated for each motor

Parameters

newRotation

the new rotation (-1.0 to 1.0)

updateSpeed()

void arpirobot::ArcadeDriveHelper::updateSpeed

(

double

newSpeed

)

Set a new speed value. Speeds will be re-calculated and updated for each motor

Parameters

newSpeed

the new speed (-1.0 to 1.0)

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The documentation for this class was generated from the following file:

• include/arpirobot/core/drive/ArcadeDriveHelper.hpp