edu.wpi.first.wpilibj.drive

Class KilloughDrive

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.drive.RobotDriveBase

edu.wpi.first.wpilibj.drive.KilloughDrive

All Implemented Interfaces:

MotorSafety, Sendable

public class KilloughDrive
extends RobotDriveBase

A class for driving Killough drive platforms.

Killough drives are triangular with one omni wheel on each corner.

Drive base diagram:

  /_____\
 / \   / \
    \ /
    ---
 

Each drive() function provides different inverse kinematic relations for a Killough drive. The default wheel vectors are parallel to their respective opposite sides, but can be overridden. See the constructor for more information.

This library uses the NED axes convention (North-East-Down as external reference in the world frame): http://www.nuclearprojects.com/ins/images/axis_big.png.

The positive X axis points ahead, the positive Y axis points right, and the positive Z axis points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is positive.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase

RobotDriveBase.MotorType

Field Summary

Fields

Modifier and Type	Field and Description
static double	kDefaultBackMotorAngle
static double	kDefaultLeftMotorAngle
static double	kDefaultRightMotorAngle

Fields inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase

kDefaultDeadband, kDefaultMaxOutput, m_deadband, m_maxOutput, m_safetyHelper

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

DEFAULT_SAFETY_EXPIRATION

Constructor Summary

Constructors

Constructor and Description
KilloughDrive(SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor) Construct a Killough drive with the given motors and default motor angles.
KilloughDrive(SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor, double leftMotorAngle, double rightMotorAngle, double backMotorAngle) Construct a Killough drive with the given motors.

Method Summary

Modifier and Type	Method and Description
void	driveCartesian(double ySpeed, double xSpeed, double zRotation) Drive method for Killough platform.
void	driveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) Drive method for Killough platform.
void	drivePolar(double magnitude, double angle, double zRotation) Drive method for Killough platform.
java.lang.String	getDescription()
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
void	stopMotor()

Methods inherited from class edu.wpi.first.wpilibj.drive.RobotDriveBase

applyDeadband, getExpiration, isAlive, isSafetyEnabled, limit, normalize, setDeadband, setExpiration, setMaxOutput, setSafetyEnabled

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

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

setName

Field Detail

kDefaultLeftMotorAngle

public static final double kDefaultLeftMotorAngle

See Also:

Constant Field Values

kDefaultRightMotorAngle

public static final double kDefaultRightMotorAngle

See Also:

Constant Field Values

kDefaultBackMotorAngle

public static final double kDefaultBackMotorAngle

See Also:

Constant Field Values

Constructor Detail

KilloughDrive

public KilloughDrive(SpeedController leftMotor,
                     SpeedController rightMotor,
                     SpeedController backMotor)

Construct a Killough drive with the given motors and default motor angles.

The default motor angles make the wheels on each corner parallel to their respective opposite sides.

If a motor needs to be inverted, do so before passing it in.

Parameters:

leftMotor - The motor on the left corner.

rightMotor - The motor on the right corner.

backMotor - The motor on the back corner.

KilloughDrive

public KilloughDrive(SpeedController leftMotor,
                     SpeedController rightMotor,
                     SpeedController backMotor,
                     double leftMotorAngle,
                     double rightMotorAngle,
                     double backMotorAngle)

Construct a Killough drive with the given motors.

Angles are measured in degrees clockwise from the positive X axis.

Parameters:

leftMotor - The motor on the left corner.

rightMotor - The motor on the right corner.

backMotor - The motor on the back corner.

leftMotorAngle - The angle of the left wheel's forward direction of travel.

rightMotorAngle - The angle of the right wheel's forward direction of travel.

backMotorAngle - The angle of the back wheel's forward direction of travel.

Method Detail

driveCartesian

public void driveCartesian(double ySpeed,
                           double xSpeed,
                           double zRotation)

Drive method for Killough platform.

Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.

Parameters:

ySpeed - The robot's speed along the Y axis [-1.0..1.0]. Right is positive.

xSpeed - The robot's speed along the X axis [-1.0..1.0]. Forward is positive.

zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.

driveCartesian

public void driveCartesian(double ySpeed,
                           double xSpeed,
                           double zRotation,
                           double gyroAngle)

Drive method for Killough platform.

Angles are measured clockwise from the positive X axis. The robot's speed is independent from its angle or rotation rate.

Parameters:

ySpeed - The robot's speed along the Y axis [-1.0..1.0]. Right is positive.

xSpeed - The robot's speed along the X axis [-1.0..1.0]. Forward is positive.

zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.

gyroAngle - The current angle reading from the gyro in degrees around the Z axis. Use this to implement field-oriented controls.

drivePolar

public void drivePolar(double magnitude,
                       double angle,
                       double zRotation)

Drive method for Killough platform.

Angles are measured counter-clockwise from straight ahead. The speed at which the robot drives (translation) is independent from its angle or rotation rate.

Parameters:

magnitude - The robot's speed at a given angle [-1.0..1.0]. Forward is positive.

angle - The angle around the Z axis at which the robot drives in degrees [-180..180].

zRotation - The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is positive.

stopMotor

public void stopMotor()

Specified by:

stopMotor in interface MotorSafety

Specified by:

stopMotor in class RobotDriveBase

getDescription

public java.lang.String getDescription()

Specified by:

getDescription in interface MotorSafety

Specified by:

getDescription in class RobotDriveBase

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Parameters:

builder - sendable builder