Package io.github.frc5024.lib5k.bases.drivetrain.implementations

Class TankDriveTrain

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

io.github.frc5024.lib5k.bases.drivetrain.implementations.TankDriveTrain

All Implemented Interfaces:

Sendable, Subsystem, IDifferentialDrivebase, SafeSystem, java.lang.AutoCloseable

Direct Known Subclasses:

DualPIDTankDriveTrain, OpenLoopTankDriveTrain

public abstract class TankDriveTrain
extends AbstractDriveTrain

TankDriveTrain is an implementation of AbstractDriveTrain for tank-drive robots.

Nested Class Summary

Nested classes/interfaces inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

AbstractDriveTrain.State

Field Summary

Fields

Modifier and Type	Field	Description
protected double	maxSpeedPercent

Fields inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

logger, stateMachine

Constructor Summary

Constructors

Constructor	Description
TankDriveTrain()	Create a new TankDriveTrain

Method Summary

Modifier and Type	Method	Description
static double	calculateThrottleCorrectionFactor(Rotation2d angularError)	Calculates a corrective factor for throttle values, as per: https://bitbucket.org/kaleb_dodd/simbot2019public/src/abc56f5220b5c94bca216f86e3b6b5757d0ffeff/src/main/java/frc/subsystems/Drive.java#lines-337
void	enableConstantCurvature(boolean enabled)	Set if constant-curvature control should be used
Chassis.Side	getFrontSide()	Get which side is the front
Pose2d	getPose()	Get the robot's current pose
Translation2d	getVelocity()	Get the robot's velocity in meters per period
void	handleDriverInputs(double throttlePercent, double steeringPercent)	Handle inputs from a human operator
protected void	handleOpenLoopControl(StateMetadata<AbstractDriveTrain.State> meta)	State handler for open-loop control
protected abstract void	handleVoltage(double leftVolts, double rightVolts)	TO BE OVERRIDDEN BY THE USER.
void	periodic()
void	reset()	Reset everything
protected abstract void	resetEncoders()	TO BE OVERRIDDEN BY THE USER.
void	resetPose(Pose2d pose)	Set a new pose for the robot
protected abstract void	setEncodersInverted(boolean encodersInverted)	TO BE OVERRIDDEN BY THE USER.
void	setFrontSide(Chassis.Side side)	Set which side of the chassis is the "front".
void	setMaxSpeedPercent(double maxSpeedPercent)	Set the maximum speed percent
protected abstract void	setMotorsInverted(boolean motorsInverted)	TO BE OVERRIDDEN BY THE USER.
void	setOpenLoop(double leftVolts, double rightVolts)	Set an open-loop output
void	setOpenLoop(DifferentialVoltages voltages)	Set an open-loop output
void	stop()	Stop everything

Methods inherited from class io.github.frc5024.lib5k.bases.drivetrain.AbstractDriveTrain

close, createPathingCommand, createTurnCommand, enableBrakes, getCurrentHeading, getCurrentState, getSpeed, handleAutonomousRotation, handleDrivingToPose, handleGearShift, isAtGoal, runIteration, setGoalHeading, setGoalPose, setGoalPose, setRampRate

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.frc5024.lib5k.hardware.common.drivebase.IDifferentialDrivebase

getLeftMeters, getRightMeters, getWidthMeters

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

addChild, setName, setName, setName

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, register, setDefaultCommand, simulationPeriodic

Field Detail

maxSpeedPercent

protected double maxSpeedPercent

Constructor Detail

TankDriveTrain

public TankDriveTrain()

Create a new TankDriveTrain

Method Detail

handleOpenLoopControl

protected void handleOpenLoopControl(StateMetadata<AbstractDriveTrain.State> meta)

Description copied from class: AbstractDriveTrain

State handler for open-loop control

Specified by:

handleOpenLoopControl in class AbstractDriveTrain

Parameters:

meta - State metadata

handleVoltage

protected abstract void handleVoltage(double leftVolts,
                                      double rightVolts)

TO BE OVERRIDDEN BY THE USER. Send voltage to the motors

Parameters:

leftVolts - Left side voltage

rightVolts - Right side voltage

resetEncoders

protected abstract void resetEncoders()

TO BE OVERRIDDEN BY THE USER. Reset the encoders to read 0 rotations each

setMotorsInverted

protected abstract void setMotorsInverted(boolean motorsInverted)

TO BE OVERRIDDEN BY THE USER. Set if the motor outputs should be inverted

Parameters:

motorsInverted - Should invert motor outputs

setEncodersInverted

protected abstract void setEncodersInverted(boolean encodersInverted)

TO BE OVERRIDDEN BY THE USER. Set if the encoder inputs should be inverted

Parameters:

encodersInverted - Should invert encoder inputs

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class AbstractDriveTrain

resetPose

public void resetPose(Pose2d pose)

Description copied from class: AbstractDriveTrain

Set a new pose for the robot

Specified by:

resetPose in class AbstractDriveTrain

Parameters:

pose - New pose

getVelocity

public Translation2d getVelocity()

Description copied from class: AbstractDriveTrain

Get the robot's velocity in meters per period

Specified by:

getVelocity in class AbstractDriveTrain

Returns:

Velocity

setFrontSide

public void setFrontSide(Chassis.Side side)

Description copied from class: AbstractDriveTrain

Set which side of the chassis is the "front". Used in autonomous path following

Specified by:

setFrontSide in class AbstractDriveTrain

Parameters:

side - Which side is the new front

getFrontSide

public Chassis.Side getFrontSide()

Get which side is the front

Returns:

Front side

handleDriverInputs

public void handleDriverInputs(double throttlePercent,
                               double steeringPercent)

Handle inputs from a human operator

Parameters:

throttlePercent - Throttle percentage

steeringPercent - Steering percentage

setOpenLoop

public void setOpenLoop(double leftVolts,
                        double rightVolts)

Set an open-loop output

Parameters:

leftVolts - Left side voltage

rightVolts - Right side voltage

setOpenLoop

public void setOpenLoop(DifferentialVoltages voltages)

Set an open-loop output

Parameters:

voltages - Voltages

enableConstantCurvature

public void enableConstantCurvature(boolean enabled)

Set if constant-curvature control should be used

Parameters:

enabled - Should use constant-curvature control?

setMaxSpeedPercent

public void setMaxSpeedPercent(double maxSpeedPercent)

Description copied from class: AbstractDriveTrain

Set the maximum speed percent

Specified by:

setMaxSpeedPercent in class AbstractDriveTrain

Parameters:

maxSpeedPercent - Maximum speed percent

getPose

public Pose2d getPose()

Description copied from class: AbstractDriveTrain

Get the robot's current pose

Specified by:

getPose in class AbstractDriveTrain

Returns:

Current pose

stop

public void stop()

Description copied from interface: SafeSystem

Stop everything

Specified by:

stop in interface SafeSystem

Overrides:

stop in class AbstractDriveTrain

reset

public void reset()

Description copied from interface: SafeSystem

Reset everything

Specified by:

reset in interface SafeSystem

Overrides:

reset in class AbstractDriveTrain

calculateThrottleCorrectionFactor

public static double calculateThrottleCorrectionFactor(Rotation2d angularError)

Calculates a corrective factor for throttle values, as per: https://bitbucket.org/kaleb_dodd/simbot2019public/src/abc56f5220b5c94bca216f86e3b6b5757d0ffeff/src/main/java/frc/subsystems/Drive.java#lines-337

Parameters:

angularError - Error from target heading

Returns:

Throttle correction