Package com.pocolifo.robobase.motor

Class OmniDriveCoefficients

java.lang.Object

com.pocolifo.robobase.motor.OmniDriveCoefficients

public class OmniDriveCoefficients
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	OmniDriveCoefficients.CoefficientSet

Field Summary

Fields

Modifier and Type	Field	Description
final OmniDriveCoefficients.CoefficientSet	horizontal	DO NOT CHANGE!!!
final OmniDriveCoefficients.CoefficientSet	rotational	DO NOT CHANGE!!!
final OmniDriveCoefficients.CoefficientSet	totals
final OmniDriveCoefficients.CoefficientSet	vertical	DO NOT CHANGE!!

Constructor Summary

Constructors

Constructor	Description
OmniDriveCoefficients(double[] configuredCoefficients)	Omni driving coefficients are used...

Method Summary

Modifier and Type	Method	Description
OmniDriveCoefficients.CoefficientSet	calculateCoefficientsWithPower(double verticalPower, double horizontalPower, double rotationalPower)	Calculates the motor coefficients that are then passed to the motors.
org.apache.commons.math3.geometry.euclidean.threed.Vector3D	calculatePowerWithCoefficients(OmniDriveCoefficients.CoefficientSet coefficientSet)

Methods inherited from class java.lang.Object

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

Field Details

totals

public final OmniDriveCoefficients.CoefficientSet totals

vertical

public final OmniDriveCoefficients.CoefficientSet vertical

DO NOT CHANGE!!

horizontal

public final OmniDriveCoefficients.CoefficientSet horizontal

DO NOT CHANGE!!!

rotational

public final OmniDriveCoefficients.CoefficientSet rotational

DO NOT CHANGE!!!

Constructor Details

OmniDriveCoefficients

public OmniDriveCoefficients(double[] configuredCoefficients)

Omni driving coefficients are used...

• if hardware sets motors up backward
• to adjust motor power
• to correct drift and/or uneven motor power
• to allow for omni driving

Parameters:

configuredCoefficients - Coefficients applied after the vertical, horizontal, or rotational coefficients are applied.

Method Details

calculateCoefficientsWithPower

public OmniDriveCoefficients.CoefficientSet calculateCoefficientsWithPower(double verticalPower,
 double horizontalPower,
 double rotationalPower)

Calculates the motor coefficients that are then passed to the motors.

Parameters:

horizontalPower - -1 is left full speed, 1 is right full speed.

verticalPower - -1 is backward full speed, 1 is forward full speed.

rotationalPower - -1 is counterclockwise full speed, 1 is clockwise full speed.

Returns:

The coefficients that have been multiplied by the motor powers.

calculatePowerWithCoefficients

public org.apache.commons.math3.geometry.euclidean.threed.Vector3D calculatePowerWithCoefficients(OmniDriveCoefficients.CoefficientSet coefficientSet)