DriveTrain Class Reference

A subsystem that interfaces with the drivebase on the robot. More...

#include <DriveTrain.h>

Inheritance diagram for DriveTrain:

Public Member Functions
	DriveTrain ()
	Class constructor. More...
void	InitDefaultCommand () override
	Initalizes the default command for this subsystem (DriveWithJoystick) More...
void	ArcadeDrive (double xSpeed, double zRotation)
void	TankDrive (double leftSpeed, double rightSpeed)
void	RadialDrive (double magnitude, double radial)
void	RawDrive (double l, double r)
void	Coast ()
void	Break ()

Private Attributes
can::WPI_TalonSRX *	pLeftFrontMotor
	Pointer for left front motor. More...
can::WPI_TalonSRX *	pLeftRearMotor
	Pointer for left rear motor. More...
can::WPI_TalonSRX *	pRightFrontMotor
	Pointer for right front motor. More...
can::WPI_TalonSRX *	pRightRearMotor
	Pointer for right rear motor. More...
rr::PIDController *	pArcadeController
frc::DifferentialDrive *	pRobotDrive
	Pointer for a differential drivebase made up of 2 motor pairs. More...

Detailed Description

A subsystem that interfaces with the drivebase on the robot.

Definition at line 13 of file DriveTrain.h.

Constructor & Destructor Documentation

DriveTrain()

DriveTrain::DriveTrain

(

)

Class constructor.

Definition at line 3 of file DriveTrain.cpp.

Member Function Documentation

ArcadeDrive()

void DriveTrain::ArcadeDrive	(	double	xSpeed,
		double	zRotation
	)

Pass data to wpilib's ArcadeDrive

Parameters

xSpeed	Forward speed (form -1 to 1)
zRotation	Rotation (from -1 to 1)

Definition at line 53 of file DriveTrain.cpp.

Break()

void DriveTrain::Break

(

)

Definition at line 96 of file DriveTrain.cpp.

Coast()

void DriveTrain::Coast

(

)

Definition at line 88 of file DriveTrain.cpp.

InitDefaultCommand()

void DriveTrain::InitDefaultCommand ( )

override

Initalizes the default command for this subsystem (DriveWithJoystick)

Definition at line 49 of file DriveTrain.cpp.

RadialDrive()

void DriveTrain::RadialDrive	(	double	magnitude,
		double	radial
	)

Drive with circles

Parameters

magnitude	Magnitude modifier for the radius output
radial	Value that is computed into the outside motor's basic output

Definition at line 64 of file DriveTrain.cpp.

RawDrive()

void DriveTrain::RawDrive	(	double	l,
		double	r
	)

Definition at line 83 of file DriveTrain.cpp.

TankDrive()

void DriveTrain::TankDrive	(	double	leftSpeed,
		double	rightSpeed
	)

Passes data to wpilib's TankDrive

Parameters

leftSpeed	left motor speed
rightSpeed	right motor speed

Definition at line 59 of file DriveTrain.cpp.

Member Data Documentation

pArcadeController

rr::PIDController* DriveTrain::pArcadeController

private

Definition at line 52 of file DriveTrain.h.

pLeftFrontMotor

can::WPI_TalonSRX* DriveTrain::pLeftFrontMotor

private

Pointer for left front motor.

Definition at line 47 of file DriveTrain.h.

pLeftRearMotor

can::WPI_TalonSRX* DriveTrain::pLeftRearMotor

private

Pointer for left rear motor.

Definition at line 48 of file DriveTrain.h.

pRightFrontMotor

can::WPI_TalonSRX* DriveTrain::pRightFrontMotor

private

Pointer for right front motor.

Definition at line 49 of file DriveTrain.h.

pRightRearMotor

can::WPI_TalonSRX* DriveTrain::pRightRearMotor

private

Pointer for right rear motor.

Definition at line 50 of file DriveTrain.h.

pRobotDrive

frc::DifferentialDrive* DriveTrain::pRobotDrive

private

Pointer for a differential drivebase made up of 2 motor pairs.

Definition at line 54 of file DriveTrain.h.

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

• src/main/include/Subsystems/DriveTrain.h
• src/main/cpp/Subsystems/DriveTrain.cpp