#include <OmniWheelSubsystem.h>

Inheritance diagram for OmniWheelSubsystem:

Classes
struct	ChassisSpeed

struct	ChassisState

struct	config

Public Types
enum	ChassisMode { YAW_ORIENTED , BEYBLADE , ROBOT_ORIENTED , ODOM_ORIENTED , YAW_ALIGNED , OFF }

Public Member Functions
	OmniWheelSubsystem (config cfg)

void	setPowerLimit (int powerLimit)

void	setChassisState (ChassisState state)

ChassisState	getChassisState ()

void	setYawReference (TurretSubsystem &_yaw, float initial_offset_ticks=0, float _yawAlign=0)

bool	setOdomReference ()

void	periodic ()

Public Member Functions inherited from Subsystem
void	periodic ()

void	getState ()

void	setState ()

Member Enumeration Documentation

◆ ChassisMode

enum OmniWheelSubsystem::ChassisMode

Enumerator
YAW_ORIENTED
BEYBLADE
ROBOT_ORIENTED
ODOM_ORIENTED
YAW_ALIGNED
OFF

Constructor & Destructor Documentation

◆ OmniWheelSubsystem()

OmniWheelSubsystem::OmniWheelSubsystem ( config cfg )

Member Function Documentation

◆ getChassisState()

OmniWheelSubsystem::ChassisState OmniWheelSubsystem::getChassisState ( )

◆ periodic()

void OmniWheelSubsystem::periodic ( )

◆ setChassisState()

void OmniWheelSubsystem::setChassisState ( ChassisState state )

◆ setOdomReference()

bool OmniWheelSubsystem::setOdomReference ( )

Yaw motor is a motor that controls the Turret yawOdom is the world pose representation of our robot (basically which direction you want your Heading to be w.r.t Yaw Motor)

◆ setPowerLimit()

void OmniWheelSubsystem::setPowerLimit ( int powerLimit )

inline

◆ setYawReference()

void OmniWheelSubsystem::setYawReference	(	TurretSubsystem &	_yaw,
		float	initial_offset_ticks = `0`,
		float	_yawAlign = `0`
	)

Yaw motor is a motor that controls the Turret yawPhase is an initial offset of your Yaw Motor Angle (basically which direction you want your Heading to be w.r.t Yaw Motor)

Parameters

motor	your Yaw Motor reference as in `&{motor_name}`
initial_offset_ticks	initial offset of your Yaw Motor Angle in ticks (try pass it as float)

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

core/subsystems/OmniWheelSubsystem.h
core/subsystems/OmniWheelSubsystem.cpp

Classes

Public Types

Public Member Functions