vex_drivetrain.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2019, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_drivetrain.h                                            */
/*    Author:     James Pearman                                               */
/*    Created:    7 April 2019                                                */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_DRIVETRAIN_CLASS_H
#define   VEX_DRIVETRAIN_CLASS_H
 
#include "vex_motorgroup.h"
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
namespace vex {
 
  class drivetrain  {
    private:
      vex::motor_group  lm;
      vex::motor_group  rm;
 
      double _wheel_circumference;
      double _wheel_track;
      double _wheel_base;
      double _wheel_motor_gear_ratio;
 
      int32_t _timeout;
      bool   _waitForCompletionAll();
      double _distanceToRevs( double distance, distanceUnits units );
      double _angleToRevs( double angle, rotationUnits units );
 
    public:
      drivetrain( motor_group &l, motor_group &r, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio = 1.0 );
      drivetrain( vex::motor &l, vex::motor &r, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio = 1.0 );
 
      ~drivetrain();
 
      void  setGearRatio( double ratio );
 
      void  setDriveVelocity( double velocity, velocityUnits units );
 
      void  setDriveVelocity( double velocity, percentUnits units );
 
      void  setTurnVelocity( double velocity, velocityUnits units );
 
      void  setTurnVelocity( double velocity, percentUnits units );
 
      void  setTimeout( int32_t time, timeUnits units );
 
      void  setStopping( brakeType mode );
 
      void  drive( directionType dir ) ;
 
      void  drive( directionType dir, double velocity, velocityUnits units );
 
      bool  driveFor( double distance, distanceUnits units, bool waitForCompletion=true );
 
      bool  driveFor( directionType dir, double distance, distanceUnits units, bool waitForCompletion=true );
 
      bool  driveFor( double distance, distanceUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      bool  driveFor( directionType dir, double distance, distanceUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      void  turn( turnType dir );
 
      void  turn( turnType dir, double velocity, velocityUnits units );
 
      virtual bool  turnFor( double angle, rotationUnits units, bool waitForCompletion=true );
 
      virtual bool  turnFor( turnType dir, double angle, rotationUnits units, bool waitForCompletion=true );
 
      virtual bool  turnFor( double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      virtual bool  turnFor( turnType dir, double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      virtual bool  isMoving( void );
 
      bool  isDone( void );
 
      void  stop();
 
      void  stop( brakeType mode );
 
      void  arcade( double drivePower, double turnPower, percentUnits units=percentUnits::pct );
 
      double  velocity( velocityUnits units );
 
      double  velocity( percentUnits units ) {
          return velocity( static_cast<velocityUnits>(units) );
      };
      
      double  current( currentUnits units = currentUnits::amp );
 
      double  current( percentUnits units );
 
      // these are all V5 compatibility functions and do not return any valid values
      // data from the motor for these is not available on IQ
 
      double  voltage( voltageUnits units = voltageUnits::volt );
 
      double  power( powerUnits units = powerUnits::watt );
 
      double  torque( torqueUnits units = torqueUnits::Nm );
 
      double  efficiency( percentUnits units = percentUnits::pct );
 
      double  temperature(  percentUnits units );
     
    protected: 
      // Helper functions that can used by sub classes
      double  distanceToMm( double distance, distanceUnits units );
      double  angleToDeg( double angle, rotationUnits units );
      int32_t timeoutGet();
 
      double        _turnvelocity;
      velocityUnits _turnvelocityUnits;
      uint8_t       _turnmode;
  };
};
 
#endif // VEX_DRIVETRAIN_CLASS_H