Drive Constructors

Integrated Encoders

This is the standard setup that uses built in motor encoders.

left_motor_ports a vector of left motor ports, negative reverses the port. first motor is used for sensing right_motor_ports a vector of right motor ports, negative reverses the port. first motor is used for sensing imu_port the port an imu is in wheel_diameter diameter of your drive wheel ticks cartridge rpm ratio external ratio of your drive. should be wheel gear / motor gear

Prototype

Drive chassis (
  // Left Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  {1, -2, 3}

  // Right Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  ,{-4, 5, -6}

  // IMU Port
  ,7

  // Wheel Diameter (Remember, 4" wheels are actually 4.125!)
  ,4.125

  // Cartridge RPM
  ,600

  // External Gear Ratio (MUST BE DECIMAL)
  // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 2.333.
  // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 0.6.
  ,2.333
);

Example

Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio);

ADI Encoders in Brain

Only supports parallel trackers.

left_motor_ports a vector of left motor ports, negative reverses the port right_motor_ports a vector of right motor ports, negative reverses the port imu_port the port an imu is in wheel_diameter diameter of your tracking wheel ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders ratio external ratio of your tracking wheel. should be wheel gear / motor gear left_tracker_ports vector of left tracker ports, negative will reverse the encoder right_tracker_ports vector of right tracker ports, negative will reverse the encoder

Prototype

// Chassis constructor
Drive chassis (
  // Left Chassis Ports (negative port will reverse it!)
  {1, -2, 3}

  // Right Chassis Ports (negative port will reverse it!)
  ,{-4, 5, -6}

  // IMU Port
  ,7

  // Tracking Wheel Diameter (Remember, 4" wheels are actually 4.125!)
  ,4.125

  // Ticks per Rotation of Encoder
  ,360

  // External Gear Ratio of Tracking Wheel (MUST BE DECIMAL)
  // eg. if your drive is 84:36 where the 36t is sensored, your RATIO would be 2.333.
  // eg. if your drive is 36:60 where the 60t is sensored, your RATIO would be 0.6.
  ,1

  // Left Tracking Wheel Ports (negative port will reverse it!)
  ,{1, 2}

  // Right Tracking Wheel Ports (negative port will reverse it!)
  ,{-3, -4}
);

Example

Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports,
std::vector<int> right_tracker_ports);

ADI Encoders in Expander

Only supports parallel trackers.

left_motor_ports a vector of left motor ports, negative reverses the port right_motor_ports a vector of right motor ports, negative reverses the port imu_port the port an imu is in wheel_diameter diameter of your tracking wheel ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders ratio external ratio of your tracking wheel. should be wheel gear / motor gear left_tracker_ports vector of left tracker ports, negative will reverse the encoder right_tracker_ports vector of right tracker ports, negative will reverse the encoder expander_smart_port port of the 3 wire expander

Prototype

// Chassis constructor
Drive chassis (
  // Left Chassis Ports (negative port will reverse it!)
  {1, -2, 3}

  // Right Chassis Ports (negative port will reverse it!)
  ,{-4, 5, -6}

  // IMU Port
  ,7

  // Tracking Wheel Diameter (Remember, 4" wheels are actually 4.125!)
  ,4.125

  // Ticks per Rotation of Encoder
  ,360

  // External Gear Ratio of Tracking Wheel(MUST BE DECIMAL)
  // eg. if your drive is 84:36 where the 36t is sensored, your RATIO would be 2.333.
  // eg. if your drive is 36:60 where the 60t is sensored, your RATIO would be 0.6.
  ,1

  // Left Tracking Wheel Ports (negative port will reverse it!)
  ,{1, 2}

  // Right Tracking Wheel Ports (negative port will reverse it!)
  ,{-3, -4}
  
  // 3 Wire Port Expander Smart Port
  ,9
);

Example

Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ticks, double ratio, std::vector<int> left_tracker_ports, 
std::vector<int> right_tracker_ports, int expander_smart_port);

Rotation Sensor

warning

Note: smart encoders might not work as intended as of of 2.0.0

Only supports parallel trackers.

left_motor_ports a vector of left motor ports, negative reverses the port right_motor_ports a vector of right motor ports, negative reverses the port imu_port the port an imu is in wheel_diameter diameter of your tracking wheel ticks ticks per rotation of your sensor. 360 if using ADI quadrature encoders ratio external ratio of your tracking wheel. should be wheel gear / motor gear left_rotation_port port for left rotation sensor, negative reverses the port right_rotation_port port for right rotation sensor, negative reverses the port

Prototype

// Chassis constructor
Drive chassis (
  // Left Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  {1, -2, 3}

  // Right Chassis Ports (negative port will reverse it!)
  //   the first port is the sensored port (when trackers are not used!)
  ,{-4, 5, -6}

  // IMU Port
  ,7

  // Wheel Diameter (Remember, 4" wheels are actually 4.125!)
  //    (or tracking wheel diameter)
  ,4.125

  // External Gear Ratio (MUST BE DECIMAL)
  //    (or gear ratio of tracking wheel)
  // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 2.333.
  // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 0.6.
  ,1

  // Left Rotation Port (negative port will reverse it!)
  ,8

  // Right Rotation Port (negative port will reverse it!)
  ,-9
);

Example

Drive(std::vector<int> left_motor_ports, std::vector<int> right_motor_ports, int imu_port, 
double wheel_diameter, double ratio, int left_rotation_port, int right_rotation_port);