arpirobot::TankDriveHelper Class Reference

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

Public Member Functions
	TankDriveHelper (MotorController &leftMotor, MotorController &rightMotor)
	TankDriveHelper (std::shared_ptr< MotorController > leftMotor, std::shared_ptr< MotorController > rightMotor)
	TankDriveHelper (std::vector< std::reference_wrapper< MotorController >> leftMotors, std::vector< std::reference_wrapper< MotorController >> rightMotors)
	TankDriveHelper (std::vector< std::shared_ptr< MotorController >> leftMotors, std::vector< std::shared_ptr< MotorController >> rightMotors)
void	updateLeftSpeed (double newLeftSpeed)
void	updateRightSpeed (double newRightSpeed)
void	update (double newLeftSpeed, double newRightSpeed)

Detailed Description

Drive helper for tank drive method.

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

Constructor & Destructor Documentation

TankDriveHelper() [1/4]

arpirobot::TankDriveHelper::TankDriveHelper	(	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)

TankDriveHelper() [2/4]

arpirobot::TankDriveHelper::TankDriveHelper	(	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)

TankDriveHelper() [3/4]

arpirobot::TankDriveHelper::TankDriveHelper	(	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)

TankDriveHelper() [4/4]

arpirobot::TankDriveHelper::TankDriveHelper	(	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::TankDriveHelper::update	(	double	newLeftSpeed,
		double	newRightSpeed
	)

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

Parameters

newLeftSpeed	the new speed (-1.0 to 1.0)
newRightSpeed	the new rotation (-1.0 to 1.0)

updateLeftSpeed()

void arpirobot::TankDriveHelper::updateLeftSpeed

(

double

newLeftSpeed

)

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

Parameters

newLeftSpeed

the new rotation (-1.0 to 1.0)

updateRightSpeed()

void arpirobot::TankDriveHelper::updateRightSpeed

(

double

newRightSpeed

)

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

Parameters

newRightSpeed

the new rotation (-1.0 to 1.0)

---

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

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