VEXcode IQ C++ Unofficial documentation for version 3.0.4.1
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vex_smartdrive.h
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1/*----------------------------------------------------------------------------*/
2/* */
3/* Copyright (c) Innovation First 2019, All rights reserved. */
4/* */
5/* Module: vex_smartdrive.h */
6/* Author: James Pearman */
7/* Created: 7 April 2019 */
8/* */
9/* Revisions: */
10/* V1.00 TBD - Initial release */
11/* */
12/*----------------------------------------------------------------------------*/
13
14#ifndef VEX_DRIVETRAIN_EXT_CLASS_H
15#define VEX_DRIVETRAIN_EXT_CLASS_H
16
17/*-----------------------------------------------------------------------------*/
20/*---------------------------------------------------------------------------*/
21
22namespace vex {
23
24 class smartdrive : public drivetrain {
25 public:
26 smartdrive( motor_group &l, motor_group &r, vex::gyro &g, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio = 1.0 );
27 smartdrive( vex::motor &l, vex::motor &r, vex::gyro &g, double wheelTravel=200, double trackWidth=200, double wheelBase=50, distanceUnits unit=distanceUnits::mm, double externalGearRatio = 1.0 );
28
29 ~smartdrive();
30
31 void setTurnThreshold( double t );
32 void setTurnConstant( double kp );
33
34 smartdrive & setTurnDirectionReverse( bool value );
35
43 bool turnToHeading( double angle, rotationUnits units, bool waitForCompletion=true );
44
54 bool turnToHeading( double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
55
63 bool turnToRotation( double angle, rotationUnits units, bool waitForCompletion=true );
64
74 bool turnToRotation( double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
75
84 virtual bool turnFor( turnType dir, double angle, rotationUnits units, bool waitForCompletion=true );
85
86 virtual bool turnFor( double angle, rotationUnits units, bool waitForCompletion=true );
87
98 virtual bool turnFor( turnType dir, double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
99
100 virtual bool turnFor( double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
101
107 void setHeading( double value, rotationUnits units );
108
114 double heading( rotationUnits units = rotationUnits::deg );
115
121 double rotation( rotationUnits units = rotationUnits::deg );
122
128 void setRotation( double value, rotationUnits units );
129
130
135 bool isTurning();
136
137 virtual bool isMoving();
138
139 private:
140 vex::gyro *g;
141 double _targetAngle;
142 turnType _targetDir;
143 int32_t _timeout;
144 bool _turning;
145 bool _blocked;
146 bool _abortCheck;
147 bool _eventsInitialized;
148 double _turnThreshold;
149 double _turnKp;
150 double _turningVelocity;
151 velocityUnits _turningVelocityUnits;
152
153 turnType _turnPositive;
154 turnType _turnNegative;
155
156 static void _gyropoll( void *arg );
157 void _initevents();
158 bool _testForCompletionGyro();
159 bool _waitForCompletionGyro();
160
161 enum class tEventType {
162 EVENT_GYRO_POLL = 4
163 };
164 };
165}
166
167#endif // VEX_DRIVETRAIN_EXT_CLASS_H
vex::drivetrain::velocity
double velocity(velocityUnits units)
Gets the average velocity of the drivetrain;.
vex::motor_group
Definition vex_motorgroup.h:24
vex::motor
Use the motor class to control motor devices.
Definition vex_motor.h:34
vex::smartdrive::turnToHeading
bool turnToHeading(double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
Turn on the motors and rotate to a heading at a specified velocity.
vex::smartdrive::turnFor
virtual bool turnFor(double angle, rotationUnits units, bool waitForCompletion=true)
Turn on the motors and rotate an angle at the default velocity.
vex::smartdrive::turnFor
virtual bool turnFor(turnType dir, double angle, rotationUnits units, bool waitForCompletion=true)
Turn on the motors and rotate an angle at the default velocity.
vex::smartdrive::turnToRotation
bool turnToRotation(double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
Turn on the motors and rotate to an angle at a specified velocity.
vex::smartdrive::turnFor
virtual bool turnFor(double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
Turn on the motors and rotate an angle at a specified velocity.
vex::smartdrive::heading
double heading(rotationUnits units=rotationUnits::deg)
Gets the heading (angle) of the gyro sensor.
vex::smartdrive::isTurning
bool isTurning()
Checks to see if the turnToHeading, turnToRotation or turnFor function is still running.
vex::smartdrive::setHeading
void setHeading(double value, rotationUnits units)
set the gyro sensor heading to angle
vex::smartdrive::rotation
double rotation(rotationUnits units=rotationUnits::deg)
Gets the rotation (absolute angle) of the gyro sensor.
vex::smartdrive::turnToHeading
bool turnToHeading(double angle, rotationUnits units, bool waitForCompletion=true)
Turn on the motors and rotate to a heading at the default velocity.
vex::smartdrive::turnToRotation
bool turnToRotation(double angle, rotationUnits units, bool waitForCompletion=true)
Turn on the motors and rotate to an angle at the default velocity.
vex::smartdrive::turnFor
virtual bool turnFor(turnType dir, double angle, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true)
Turn on the motors and rotate an angle at a specified velocity.
vex::smartdrive::isMoving
virtual bool isMoving()
Checks to see if any of the motors are rotating to a specific target.
vex::smartdrive::setRotation
void setRotation(double value, rotationUnits units)
set the gyro sensor rotation to angle
vex
Bumper switch device class
Definition vex_brain.h:24
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