MecanumDrive Class Reference

#include <mecanum_drive.h>

Classes
struct	mecanumdrive_config_t

Public Member Functions
	MecanumDrive (vex::motor &left_front, vex::motor &right_front, vex::motor &left_rear, vex::motor &right_rear, vex::rotation *lateral_wheel=NULL, vex::inertial *imu=NULL, mecanumdrive_config_t *config=NULL)
void	drive_raw (double direction_deg, double magnitude, double rotation)
void	drive (double left_y, double left_x, double right_x, int power=2)
bool	auto_drive (double inches, double direction, double speed, bool gyro_correction=true)
bool	auto_turn (double degrees, double speed, bool ignore_imu=false)

Detailed Description

A class representing the Mecanum drivetrain. Contains 4 motors, a possible IMU (intertial), and a possible undriven perpendicular wheel.

Constructor & Destructor Documentation

MecanumDrive()

MecanumDrive::MecanumDrive	(	vex::motor &	left_front,
		vex::motor &	right_front,
		vex::motor &	left_rear,
		vex::motor &	right_rear,
		vex::rotation *	lateral_wheel = NULL,
		vex::inertial *	imu = NULL,
		mecanumdrive_config_t *	config = NULL )

Create the Mecanum drivetrain object

Member Function Documentation

auto_drive()

bool MecanumDrive::auto_drive	(	double	inches,
		double	direction,
		double	speed,
		bool	gyro_correction = true )

Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.

Parameters

inches	How far the robot should drive, in inches
direction	What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive.
speed	The maximum speed the robot should travel, in percent: -1.0->+1.0
gyro_correction	=true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor.

Drive the robot in a straight line automatically. If the inertial was declared in the constructor, use it to correct while driving. If the lateral wheel was declared in the constructor, use it for more accurate positioning while strafing.

Parameters

inches	How far the robot should drive, in inches
direction	What direction the robot should travel in, in degrees. 0 is forward, +/-180 is reverse, clockwise is positive.
speed	The maximum speed the robot should travel, in percent: -1.0->+1.0
gyro_correction	= true Whether or not to use the gyro to help correct while driving. Will always be false if no gyro was declared in the constructor.

Returns

Whether or not the maneuver is complete.

auto_turn()

bool MecanumDrive::auto_turn	(	double	degrees,
		double	speed,
		bool	ignore_imu = false )

Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control.

Parameters

degrees	How many degrees to rotate the robot. Clockwise postive.
speed	What percentage to run the motors at: 0.0 -> 1.0
ignore_imu	=false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.

Returns

whether or not the robot has finished the maneuver

Autonomously turn the robot X degrees over it's center point. Uses a closed loop for control.

Parameters

degrees	How many degrees to rotate the robot. Clockwise postive.
speed	What percentage to run the motors at: 0.0 -> 1.0
ignore_imu	= false Whether or not to use the Inertial for determining angle. Will instead use circumference formula + robot's wheelbase + encoders to determine.

Returns

whether or not the robot has finished the maneuver

drive()

void MecanumDrive::drive	(	double	left_y,
		double	left_x,
		double	right_x,
		int	power = 2 )

Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.

Parameters

left_y	left joystick, Y axis (forward / backwards)
left_x	left joystick, X axis (strafe left / right)
right_x	right joystick, X axis (rotation left / right)
power	=2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity)

Drive the robot with a mecanum-style / arcade drive. Inputs are in percent (-100.0 -> 100.0) straight from the controller. Controls are mixed, so the robot can drive forward / strafe / rotate all at the same time.

Parameters

left_y	left joystick, Y axis (forward / backwards)
left_x	left joystick, X axis (strafe left / right)
right_x	right joystick, X axis (rotation left / right)
power	= 2 how much of a "curve" there should be on drive controls; better for low speed maneuvers. Leave blank for a default curve of 2 (higher means more fidelity)

drive_raw()

void MecanumDrive::drive_raw	(	double	direction_deg,
		double	magnitude,
		double	rotation )

Drive the robot using vectors. This handles all the math required for mecanum control.

Parameters

direction_deg	the direction to drive the robot, in degrees. 0 is forward, 180 is back, clockwise is positive, counterclockwise is negative.
magnitude	How fast the robot should drive, in percent: 0.0->1.0
rotation	How fast the robot should rotate, in percent: -1.0->+1.0

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The documentation for this class was generated from the following files:

• mecanum_drive.h
• mecanum_drive.cpp