Package com.pocolifo.robobase.motor

Class CarWheels

java.lang.Object

com.pocolifo.robobase.motor.CarWheels

All Implemented Interfaces:

java.lang.AutoCloseable

public class CarWheels
extends java.lang.Object
implements java.lang.AutoCloseable

Contains functions to move the robot very intuitively. Intended for use in Autonomous. The wheels must be organized just like a car; this means all wheels are parallel, two on each side of the robot.

See Also:

Wheel

Field Summary

Fields

Modifier and Type	Field	Description
Wheel	backLeft	The back left Wheel, if looking from the back of the robot and in the same direction of the robot.
Wheel	backRight	The back right Wheel, if looking from the back of the robot and in the same direction of the robot.
Wheel	frontLeft	The front left Wheel, if looking from the back of the robot and in the same direction of the robot.
Wheel	frontRight	The front right Wheel, if looking from the back of the robot and in the same direction of the robot.
Robot	robot	The Robot that is associated with these CarWheels.

Constructor Summary

Constructors

Constructor	Description
CarWheels(Robot robot, Wheel frontLeft, Wheel frontRight, Wheel backLeft, Wheel backRight, Wheel specialWheel)	Instantiate CarWheels.
CarWheels(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap, int motorTickCount, double wheelDiameterCm, Robot robot, java.lang.String frontLeft, java.lang.String frontRight, java.lang.String backLeft, java.lang.String backRight, java.lang.String specialWheel)	Quickly instantiate CarWheels.

Method Summary

Modifier and Type	Method	Description
void	close()	Closes the internal motors.
void	drive(double centimeters, boolean horizontal)	Drive the motors forward or backward.
void	drive(double centimeters, double speed, boolean horizontal)	Drive the motors forward or backward at a certain speed.
void	driveIndividually(double frontLeft, double frontRight, double backLeft, double backRight)	Sets the motor speed of each wheel individually.
void	driveOmni(float verticalPower, float horizontalPower, float rotationalPower)	Drive the robot with omni-drive.
void	rotate(double degrees, double power)	Rotates the robot.
void	rotateClockwise(double degrees, double power)	Rotates the robot clockwise.
void	rotateCounterclockwise(double degrees, double power)	Rotates the robot counterclockwise.
void	setDriveTarget(double centimeters)	Sets the motor target of the special wheel.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

robot

public final Robot robot

The Robot that is associated with these CarWheels.

frontLeft

public final Wheel frontLeft

The front left Wheel, if looking from the back of the robot and in the same direction of the robot.

frontRight

public final Wheel frontRight

The front right Wheel, if looking from the back of the robot and in the same direction of the robot.

backLeft

public final Wheel backLeft

The back left Wheel, if looking from the back of the robot and in the same direction of the robot.

backRight

public final Wheel backRight

The back right Wheel, if looking from the back of the robot and in the same direction of the robot.

Constructor Detail

CarWheels

public CarWheels(Robot robot,
                 Wheel frontLeft,
                 Wheel frontRight,
                 Wheel backLeft,
                 Wheel backRight,
                 Wheel specialWheel)

Instantiate CarWheels. The specialWheel is used for encoder-related calculations.

Parameters:

robot - The associated Robot that has these CarWheels.

frontLeft - The Wheel associated with the front left motor, if looking from the back of the robot and in the same direction of the robot.

frontRight - The Wheel associated with the front right motor, if looking from the back of the robot and in the same direction of the robot.

backLeft - The Wheel associated with the back left motor, if looking from the back of the robot and in the same direction of the robot.

backRight - The Wheel associated with the back right motor, if looking from the back of the robot and in the same direction of the robot.

specialWheel - The wheel that is used for encoder-related calculations.

CarWheels

public CarWheels(com.qualcomm.robotcore.hardware.HardwareMap hardwareMap,
                 int motorTickCount,
                 double wheelDiameterCm,
                 Robot robot,
                 java.lang.String frontLeft,
                 java.lang.String frontRight,
                 java.lang.String backLeft,
                 java.lang.String backRight,
                 java.lang.String specialWheel)

Quickly instantiate CarWheels.

Parameters:

hardwareMap - The HardwareMap which contains the motors.

motorTickCount - The number of encoder ticks for a revolution for each motor.

wheelDiameterCm - The diameter of each wheel in centimeters.

robot - The Robot that is associated with the hardwareMap.

frontLeft - The name of the front left motor, if looking from the back of the robot and in the same direction of the robot.

frontRight - The name of the front right motor, if looking from the back of the robot and in the same direction of the robot.

backLeft - The name of the back left motor, if looking from the back of the robot and in the same direction of the robot.

backRight - The name of the back right motor, if looking from the back of the robot and in the same direction of the robot.

specialWheel - The wheel that has the encoder connector connected to it and the Control Hub. The connector is mandatory because it's how we know how far the robot has traveled!

See Also:

CarWheels(Robot, Wheel, Wheel, Wheel, Wheel, Wheel)

Method Detail

drive

public void drive(double centimeters,
                  boolean horizontal)

Drive the motors forward or backward.

Parameters:

centimeters - The number of centimeters to move. This should be negative to move backwards, and positive to move forwards. If power is negative, this should be too.

horizontal - Whether the robot moves vertically or horizontally.

drive

public void drive(double centimeters,
                  double speed,
                  boolean horizontal)

Drive the motors forward or backward at a certain speed.

Parameters:

centimeters - The number of centimeters to move. This should be negative to move backwards, and positive to move forwards. If power is negative, this should be too.

speed - The speed at which the robot should move. Should be [0, 1].

horizontal - Whether the robot moves vertically or horizontally.

driveIndividually

public void driveIndividually(double frontLeft,
                              double frontRight,
                              double backLeft,
                              double backRight)

Sets the motor speed of each wheel individually. Setting the motor speed actually moves it in real life.

Parameters:

frontLeft - The speed to set the front left wheel to.

frontRight - The speed to set the front right wheel to.

backLeft - The speed to set the back left wheel to.

backRight - The speed to set the back right wheel to.

setDriveTarget

public void setDriveTarget(double centimeters)

Sets the motor target of the special wheel. Use this to specify how far the car should go.

Parameters:

centimeters - The target to set the special wheel to, in centimeters.

rotate

public void rotate(double degrees,
                   double power)

Rotates the robot.

Parameters:

degrees - Degrees to rotate. Positive for right (clockwise). Negative for left (counterclockwise).

power - The power to drive the motors at. Valid values are from -1.0 to 1.0, inclusive. This should be negative to rotate counterclockwise, and positive to rotate clockwise.

rotateClockwise

public void rotateClockwise(double degrees,
                            double power)

Rotates the robot clockwise. This is just for readability purposes.

Parameters:

degrees - Degrees to rotate clockwise.

power - The power to drive the motors at. Valid values are from -1.0 to 1.0, inclusive. This should be negative to rotate counterclockwise, and positive to rotate clockwise.

See Also:

rotate(double, double)

rotateCounterclockwise

public void rotateCounterclockwise(double degrees,
                                   double power)

Rotates the robot counterclockwise. This is just for readability purposes.

Parameters:

degrees - Degrees to rotate counterclockwise.

power - The power to drive the motors at. Valid values are from -1.0 to 1.0, inclusive. This should be negative to rotate counterclockwise, and positive to rotate clockwise.

See Also:

rotate(double, double)

driveOmni

public void driveOmni(float verticalPower,
                      float horizontalPower,
                      float rotationalPower)

Drive the robot with omni-drive. Omni-drive allows the robot to move horizontally without rotating, drive diagonally, and drive and rotate the robot normally.

Parameters:

verticalPower - The power at which to move the robot forward and backward. Inclusive from -1.0 to 1.0.

horizontalPower - The power at which to move the robot left and right. Inclusive from -1.0 to 1.0.

rotationalPower - The power at which to rotate the robot. Inclusive from -1.0 (rotate counterclockwise) to 1.0 (clockwise).

close

public void close()

Closes the internal motors. THIS SHOULD BE CALLED WHEN THE MOTORS ARE DONE BEING USED!

Specified by:

close in interface java.lang.AutoCloseable