#include <Chassis.h>

Public Types
enum	BrakeMode { BRAKE , COAST }

Public Member Functions
	Chassis (short lfId, short rfId, short lbId, short rbId, I2C *i2c)

void	driveMotors (WheelSpeeds speeds)

void	driveXYR (ChassisSpeeds speeds)

void	driveXYRPower (float chassis_power, uint16_t chassis_power_limit, double lX, double lY, double dt, bool beyblading, double &rotationalPower)

void	driveOffsetAnglePower (float chassis_power, uint16_t chassis_power_limit, ChassisSpeeds speeds, double angleOffset, int dt, double &rotationalPower)

void	driveTurretRelativePower (float chassis_power, uint16_t chassis_power_limit, ChassisSpeeds speeds, double turretAngleDegrees, int dt, double &rotationalPower)

void	driveFieldRelative (ChassisSpeeds speeds)

void	driveTurretRelative (ChassisSpeeds speeds, double turretAngleDegrees)

void	driveOffsetAngle (ChassisSpeeds speeds, double angleOffset)

void	driveAngle (double angleRadians, double speedRPM, double rotationVelcotiyRPM)

void	beyblade (double xVelocityRPM, double yVelocityRPM, double turretAngleDegrees, bool switchDirections)

DJIMotor	getMotor (int index)

BrakeMode	getBrakeMode ()

void	setBrakeMode (BrakeMode brakeMode)

void	initializeImu ()

void	periodic ()

void	printMotorAngle ()

double	degreesToRadians (double degrees)

int	getHeadingDegreesYaw ()

int	getHeadingDegreesPitch ()

int	getHeadingDegreesRoll ()

Pose2D	getPose ()

ChassisSpeeds	getSpeeds ()

void	readImu ()

bool	allMotorsConnected ()

Public Attributes
int8_t	isInverted [4]

double	prevVel

int	testData [300][4]

int	testDataIndex = 0

Detailed Description

The Chassis class is a wrapper for the DJIMotor class that allows for easy control of the chassis. It also contains methods for controlling the chassis in a field relative manner, and for controlling the chassis with an offset angle.

The Chassis class also contains methods for controlling the chassis with the IMU. The IMU is used to control the chassis in a field relative manner, and to control the chassis with an offset angle.

Member Enumeration Documentation

◆ BrakeMode

enum Chassis::BrakeMode

The BrakeMode enum is used to set the brake mode of the chassis.

Enumerator
BRAKE
COAST

Constructor & Destructor Documentation

◆ Chassis()

Chassis::Chassis	(	short	lfId,
		short	rfId,
		short	lbId,
		short	rbId,
		I2C *	i2c
	)

The Chassis constructor. This constructor takes in the CAN IDs of the four motors on the chassis.

Parameters

lfId	Left front motor CAN ID
rfId	Right front motor CAN ID
lbId	Left back motor CAN ID
rbId	Right back motor CAN ID

Member Function Documentation

◆ allMotorsConnected()

bool Chassis::allMotorsConnected ( )

◆ beyblade()

void Chassis::beyblade	(	double	xVelocityRPM,
		double	yVelocityRPM,
		double	turretAngleDegrees,
		bool	switchDirections
	)

The beyblade method is used to spin the chassis while moving.

Parameters

xVelocityRPM	The x velocity in RPM
yVelocityRPM	The y velocity in RPM
turretAngleDegrees	The turret's angle in degrees, used to drive turret relative
switchDirections	Whether or not to switch directions

◆ degreesToRadians()

double Chassis::degreesToRadians ( double degrees )

Helper method to convert an angle from degrees to radians

Parameters

degrees An angle measurement in degrees

Returns: The angle converted to radians

◆ driveAngle()

void Chassis::driveAngle	(	double	angleRadians,
		double	speedRPM,
		double	rotationVelcotiyRPM
	)

The driveAngle method is used to drive the chassis with an absolute angle.

Parameters

angleRadians	Robot angle in radians
speedRPM	Speed in RPM
rotationVelcotiyRPM	Robot rotation velocity in RPM

◆ driveFieldRelative()

void Chassis::driveFieldRelative ( ChassisSpeeds speeds )

The driveFieldRelative method is used to drive the chassis in a field relative manner.

Parameters

speeds The field-relative speeds (x, y, and rotation) in RPM

◆ driveMotors()

void Chassis::driveMotors ( WheelSpeeds speeds )

The driveMotors method drives each motor at a specific speed

Parameters

speeds The speeds in RPM to drive each motor at

◆ driveOffsetAngle()

void Chassis::driveOffsetAngle	(	ChassisSpeeds	speeds,
		double	angleOffset
	)

The driveOffsetAngle method is used to drive the chassis with an offset angle.

Parameters

speeds	The speeds (x, y, and rotation) in RPM
angleOffset	The angle offset in radians

` Drives the Chassis, compensating by a certain angle (angleOffset)

◆ driveOffsetAnglePower()

void Chassis::driveOffsetAnglePower	(	float	chassis_power,
		uint16_t	chassis_power_limit,
		ChassisSpeeds	speeds,
		double	angleOffset,
		int	dt,
		double &	rotationalPower
	)

◆ driveTurretRelative()

void Chassis::driveTurretRelative	(	ChassisSpeeds	speeds,
		double	turretAngleDegrees
	)

The driveTurretRelative method is used to drive the chassis in a turret relative manner.

Parameters

speeds	The turret-relative speeds (x, y, and rotation) in RPM
turretAngleDegrees	The CCW-positive angle of the turret in degrees

◆ driveTurretRelativePower()

void Chassis::driveTurretRelativePower	(	float	chassis_power,
		uint16_t	chassis_power_limit,
		ChassisSpeeds	speeds,
		double	turretAngleDegrees,
		int	dt,
		double &	rotationalPower
	)

◆ driveXYR()

void Chassis::driveXYR ( ChassisSpeeds speeds )

The driveXYR method is used to drive the chassis in a chassis relative manner.

Parameters

speeds The robot-relative speeds (x, y, and rotation) in RPM

◆ driveXYRPower()

void Chassis::driveXYRPower	(	float	chassis_power,
		uint16_t	chassis_power_limit,
		double	lX,
		double	lY,
		double	dt,
		bool	beyblading,
		double &	rotationalPower
	)

◆ getBrakeMode()

Chassis::BrakeMode Chassis::getBrakeMode ( )

A helper method to find the brake mode of the chassis.

Returns: An enum representing the brake mode of the chassis

◆ getHeadingDegreesPitch()

int Chassis::getHeadingDegreesPitch ( )

◆ getHeadingDegreesRoll()

int Chassis::getHeadingDegreesRoll ( )

◆ getHeadingDegreesYaw()

int Chassis::getHeadingDegreesYaw ( )

Gets the IMU's current angle reading in degrees

Returns: The IMU's current angle reading in degrees

◆ getMotor()

DJIMotor Chassis::getMotor ( int index )

A helper method to find a DJIMotor object from an index.

Parameters

index The index of the motor

Returns: a DJIMotor object

◆ getPose()

Pose2D Chassis::getPose ( )

Gets the chassis's current 2D position

Returns: The chassis's current 2D position

◆ getSpeeds()

ChassisSpeeds Chassis::getSpeeds ( )

Gets the chassis's current speeds

Returns: The chassis's current speeds

◆ initializeImu()

void Chassis::initializeImu ( )

A helper method to initialize the IMU.

◆ periodic()

void Chassis::periodic ( )

A method that should be run every main loop to update the Chassis's estimated position

◆ printMotorAngle()

void Chassis::printMotorAngle ( )

Prints the current angles of the Chassis's motors, used for debugging

◆ readImu()

void Chassis::readImu ( )

A helper method to read/update the IMU.

◆ setBrakeMode()

void Chassis::setBrakeMode ( BrakeMode brakeMode )

A helper method to set the brake mode of the chassis.

Parameters

brakeMode An enum representing the brake mode of the chassis

Member Data Documentation

◆ isInverted

int8_t Chassis::isInverted[4]

◆ prevVel

double Chassis::prevVel

◆ testData

int Chassis::testData[300][4]

◆ testDataIndex

int Chassis::testDataIndex = 0

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

core/subsystems/Chassis.h
core/subsystems/Chassis.cpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ BrakeMode

Constructor & Destructor Documentation

◆ Chassis()

Member Function Documentation

◆ allMotorsConnected()

◆ beyblade()

◆ degreesToRadians()

◆ driveAngle()

◆ driveFieldRelative()

◆ driveMotors()

◆ driveOffsetAngle()

◆ driveOffsetAnglePower()

◆ driveTurretRelative()

◆ driveTurretRelativePower()

◆ driveXYR()

◆ driveXYRPower()

◆ getBrakeMode()

◆ getHeadingDegreesPitch()

◆ getHeadingDegreesRoll()

◆ getHeadingDegreesYaw()

◆ getMotor()

◆ getPose()

◆ getSpeeds()

◆ initializeImu()

◆ periodic()

◆ printMotorAngle()

◆ readImu()

◆ setBrakeMode()

Member Data Documentation

◆ isInverted

◆ prevVel

◆ testData

◆ testDataIndex