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include/okapi/api/chassis/model/chassisModel.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/chassis/model/readOnlyChassisModel.hpp"
+#include "okapi/api/device/motor/abstractMotor.hpp"
+#include <array>
+#include <initializer_list>
+#include <memory>
+#include <vector>
+
+namespace okapi {
+/**
+ * A version of the ReadOnlyChassisModel that also supports write methods, such as setting motor
+ * speed. Because this class can write to motors, there can only be one owner and as such copying
+ * is disabled.
+ */
+class ChassisModel : public ReadOnlyChassisModel {
+  public:
+  explicit ChassisModel() = default;
+  ChassisModel(const ChassisModel &) = delete;
+  ChassisModel &operator=(const ChassisModel &) = delete;
+
+  /**
+   * Drive the robot forwards (using open-loop control). Uses velocity mode.
+   *
+   * @param ipower motor power
+   */
+  virtual void forward(double ispeed) = 0;
+
+  /**
+   * Drive the robot in an arc (using open-loop control). Uses velocity mode.
+   * The algorithm is (approximately):
+   *   leftPower = forwardSpeed + yaw
+   *   rightPower = forwardSpeed - yaw
+   *
+   * @param iforwadSpeed speed in the forward direction
+   * @param iyaw speed around the vertical axis
+   */
+  virtual void driveVector(double iforwardSpeed, double iyaw) = 0;
+
+  /**
+   * Drive the robot in an arc. Uses voltage mode.
+   * The algorithm is (approximately):
+   *   leftPower = forwardSpeed + yaw
+   *   rightPower = forwardSpeed - yaw
+   *
+   * @param iforwadSpeed speed in the forward direction
+   * @param iyaw speed around the vertical axis
+   */
+  virtual void driveVectorVoltage(double iforwardSpeed, double iyaw) = 0;
+
+  /**
+   * Turn the robot clockwise (using open-loop control). Uses velocity mode.
+   *
+   * @param ispeed motor power
+   */
+  virtual void rotate(double ispeed) = 0;
+
+  /**
+   * Stop the robot (set all the motors to 0). Uses velocity mode.
+   */
+  virtual void stop() = 0;
+
+  /**
+   * Drive the robot with a tank drive layout. Uses voltage mode.
+   *
+   * @param ileftSpeed left side speed
+   * @param irightSpeed right side speed
+   * @param ithreshold deadband on joystick values
+   */
+  virtual void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) = 0;
+
+  /**
+   * Drive the robot with an arcade drive layout. Uses voltage mode.
+   *
+   * @param iforwardSpeed speed forward direction
+   * @param iyaw speed around the vertical axis
+   * @param ithreshold deadband on joystick values
+   */
+  virtual void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) = 0;
+
+  /**
+   * Drive the robot with a curvature drive layout. The robot drives in constant radius turns
+   * where you control the curvature (inverse of radius) you drive in. This is advantageous
+   * because the forward speed will not affect the rate of turning. The algorithm switches to
+   * arcade if the forward speed is 0. Uses voltage mode.
+   *
+   * @param iforwardSpeed speed in the forward direction
+   * @param icurvature curvature (inverse of radius) to drive in
+   * @param ithreshold deadband on joystick values
+   */
+  virtual void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) = 0;
+
+  /**
+   * Power the left side motors. Uses velocity mode.
+   *
+   * @param ipower motor power
+   */
+  virtual void left(double ispeed) = 0;
+
+  /**
+   * Power the right side motors. Uses velocity mode.
+   *
+   * @param ipower motor power
+   */
+  virtual void right(double ispeed) = 0;
+
+  /**
+   * Reset the sensors to their zero point.
+   */
+  virtual void resetSensors() = 0;
+
+  /**
+   * Set the brake mode for each motor.
+   *
+   * @param mode new brake mode
+   */
+  virtual void setBrakeMode(AbstractMotor::brakeMode mode) = 0;
+
+  /**
+   * Set the encoder units for each motor.
+   *
+   * @param units new motor encoder units
+   */
+  virtual void setEncoderUnits(AbstractMotor::encoderUnits units) = 0;
+
+  /**
+   * Set the gearset for each motor.
+   *
+   * @param gearset new motor gearset
+   */
+  virtual void setGearing(AbstractMotor::gearset gearset) = 0;
+
+  /**
+   * Sets a new maximum velocity in RPM. The usable maximum depends on the maximum velocity of the
+   * currently installed gearset. If the configured maximum velocity is greater than the attainable
+   * maximum velocity from the currently installed gearset, the ChassisModel will still scale to
+   * that velocity.
+   *
+   * @param imaxVelocity The new maximum velocity.
+   */
+  virtual void setMaxVelocity(double imaxVelocity) = 0;
+
+  /**
+   * @return The current maximum velocity.
+   */
+  virtual double getMaxVelocity() const = 0;
+
+  /**
+   * Sets a new maximum voltage in mV in the range `[0-12000]`.
+   *
+   * @param imaxVoltage The new maximum voltage.
+   */
+  virtual void setMaxVoltage(double imaxVoltage) = 0;
+
+  /**
+   * @return The maximum voltage in mV `[0-12000]`.
+   */
+  virtual double getMaxVoltage() const = 0;
+};
+} // namespace okapi