OdometryTank Class Reference

#include <odometry_tank.h>

Inheritance diagram for OdometryTank:

Public Member Functions
	OdometryTank (vex::motor_group &left_side, vex::motor_group &right_side, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true)
	OdometryTank (CustomEncoder &left_custom_enc, CustomEncoder &right_custom_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true)
	OdometryTank (vex::encoder &left_vex_enc, vex::encoder &right_vex_enc, robot_specs_t &config, vex::inertial *imu=NULL, bool is_async=true)
pose_t	update () override
void	set_position (const pose_t &newpos=zero_pos) override
Public Member Functions inherited from OdometryBase
	OdometryBase (bool is_async)
pose_t	get_position (void)
void	end_async ()
double	get_speed ()
double	get_accel ()
double	get_angular_speed_deg ()
double	get_angular_accel_deg ()

Additional Inherited Members
Static Public Member Functions inherited from OdometryBase
static int	background_task (void *ptr)
static double	pos_diff (pose_t start_pos, pose_t end_pos)
static double	rot_diff (pose_t pos1, pose_t pos2)
static double	smallest_angle (double start_deg, double end_deg)
Public Attributes inherited from OdometryBase
bool	end_task = false
	end_task is true if we instruct the odometry thread to shut down
Static Public Attributes inherited from OdometryBase
static constexpr pose_t	zero_pos = {.x = 0.0L, .y = 0.0L, .rot = 90.0L}
Protected Attributes inherited from OdometryBase
vex::task *	handle
vex::mutex	mut
pose_t	current_pos
double	speed
double	accel
double	ang_speed_deg
double	ang_accel_deg

Detailed Description

OdometryTank defines an odometry system for a tank drivetrain This requires encoders in the same orientation as the drive wheels Odometry is a "start and forget" subsystem, which means once it's created and configured, it will constantly run in the background and track the robot's X, Y and rotation coordinates.

Constructor & Destructor Documentation

OdometryTank() [1/3]

OdometryTank::OdometryTank	(	vex::motor_group &	left_side,
		vex::motor_group &	right_side,
		robot_specs_t &	config,
		vex::inertial *	imu = NULL,
		bool	is_async = true )

Initialize the Odometry module, calculating position from the drive motors.

Parameters

left_side	The left motors
right_side	The right motors
config	the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
imu	The robot's inertial sensor. If not included, rotation is calculated from the encoders.
is_async	If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().

OdometryTank() [2/3]

OdometryTank::OdometryTank	(	CustomEncoder &	left_custom_enc,
		CustomEncoder &	right_custom_enc,
		robot_specs_t &	config,
		vex::inertial *	imu = NULL,
		bool	is_async = true )

Initialize the Odometry module, calculating position from the drive motors.

Parameters

left_custom_enc	The left custom encoder
right_custom_enc	The right custom encoder
config	the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
imu	The robot's inertial sensor. If not included, rotation is calculated from the encoders.
is_async	If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().

OdometryTank() [3/3]

OdometryTank::OdometryTank	(	vex::encoder &	left_vex_enc,
		vex::encoder &	right_vex_enc,
		robot_specs_t &	config,
		vex::inertial *	imu = NULL,
		bool	is_async = true )

Initialize the Odometry module, calculating position from the drive motors.

Parameters

left_vex_enc	The left vex encoder
right_vex_enc	The right vex encoder
config	the specifications that supply the odometry with descriptions of the robot. See robot_specs_t for what is contained
imu	The robot's inertial sensor. If not included, rotation is calculated from the encoders.
is_async	If true, position will be updated in the background continuously. If false, the programmer will have to manually call update().

Member Function Documentation

set_position()

void OdometryTank::set_position ( const pose_t & newpos = zero_pos )

overridevirtual

set_position tells the odometry to place itself at a position

Parameters

newpos

the position the odometry will take

Resets the position and rotational data to the input.

Reimplemented from OdometryBase.

update()

pose_t OdometryTank::update ( )

overridevirtual

Update the current position on the field based on the sensors

Returns

the position that odometry has calculated itself to be at

Update, store and return the current position of the robot. Only use if not initializing with a separate thread.

Implements OdometryBase.

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

• odometry_tank.h
• odometry_tank.cpp