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. this is defaulted to 1.0

Prototype

ez::Drive chassis(
   // These are your drive motors, the first motor is used for sensing!
   {1, 2, 3},     // Left Chassis Ports (negative port will reverse it!)
   {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)

   7,      // IMU Port
   4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
   343);   // Wheel RPM

Example 1

ez::Drive chassis(
    // These are your drive motors, the first motor is used for sensing!
    {1, 2, 3},     // Left Chassis Ports (negative port will reverse it!)
    {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)

    7,      // IMU Port
    4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
    600,    // Cartridge RPM

    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / MOTOR GEAR
    // eg. if your drive is 84:36 where the 36t is powered, your RATIO would be 84/36 which is 2.333
    // eg. if your drive is 36:60 where the 60t is powered, your RATIO would be 36/60 which is 0.6
    1.43);

Example 2

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

ez::Drive chassis(
    // These are your drive motors, the first motor is used for sensing!
    {1, 2, 3},     // Left Chassis Ports (negative port will reverse it!)
    {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)

    7,      // IMU Port
    4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
    360,    // Ticks per Rotation of Encoder

    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / SENSOR GEAR
    // eg. if your drive is 84:36 where the 36t is sensored, your RATIO would be 84/36 which is 2.333
    // eg. if your drive is 36:60 where the 60t is sensored, your RATIO would be 36/60 which is 0.6
    1,

    {1, 2},     // Left Tracking Wheel Ports (negative port will reverse it!)
    {-3, -4});  // Right Tracking Wheel Ports (negative port will reverse it!)

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

ez::Drive chassis(
    // These are your drive motors, the first motor is used for sensing!
    {1, 2, 3},     // Left Chassis Ports (negative port will reverse it!)
    {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)

    7,      // IMU Port
    4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)
    360,    // Ticks per Rotation of Encoder

    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / SENSOR GEAR
    // eg. if your drive is 84:36 where the 36t is sensored, your RATIO would be 84/36 which is 2.333
    // eg. if your drive is 36:60 where the 60t is sensored, your RATIO would be 36/60 which is 0.6

    1,

    {1, 2},    // Left Tracking Wheel Ports (negative port will reverse it!)
    {-3, -4},  // Right Tracking Wheel Ports (negative port will reverse it!)
    9);        // 3 Wire Port Expander Smart Port

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

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

ez::Drive chassis(
    // These are your drive motors, the first motor is used for sensing!
    {1, 2, 3},     // Left Chassis Ports (negative port will reverse it!)
    {-4, -5, -6},  // Right Chassis Ports (negative port will reverse it!)

    7,      // IMU Port
    4.125,  // Wheel Diameter (Remember, 4" wheels without screw holes are actually 4.125!)

    // External Gear Ratio (MUST BE DECIMAL) This is WHEEL GEAR / SENSOR GEAR
    // eg. if your drive is 84:36 where the 36t is sensored, your RATIO would be 84/36 which is 2.333
    // eg. if your drive is 36:60 where the 60t is sensored, your RATIO would be 36/60 which is 0.6
    1,

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

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);