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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/chassis/model/chassisModel.hpp"
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#include "okapi/api/device/motor/abstractMotor.hpp"
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#include "okapi/api/device/rotarysensor/continuousRotarySensor.hpp"
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namespace okapi {
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class HDriveModel : public ChassisModel {
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public:
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/**
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* Model for an h-drive (wheels parallel with robot's direction of motion, with an additional
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* wheel perpendicular to those). When the left and right side motors are powered +100%, the robot
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* should move forward in a straight line. When the middle motor is powered +100%, the robot
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* should strafe right in a straight line.
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*
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* @param ileftSideMotor The left side motor.
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* @param irightSideMotor The right side motor.
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* @param imiddleMotor The middle (perpendicular) motor.
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* @param ileftEnc The left side encoder.
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* @param irightEnc The right side encoder.
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* @param imiddleEnc The middle encoder.
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*/
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HDriveModel(std::shared_ptr<AbstractMotor> ileftSideMotor,
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std::shared_ptr<AbstractMotor> irightSideMotor,
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std::shared_ptr<AbstractMotor> imiddleMotor,
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std::shared_ptr<ContinuousRotarySensor> ileftEnc,
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std::shared_ptr<ContinuousRotarySensor> irightEnc,
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std::shared_ptr<ContinuousRotarySensor> imiddleEnc,
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double imaxVelocity,
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double imaxVoltage);
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/**
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* Drive the robot forwards (using open-loop control). Uses velocity mode. Sets the middle motor
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* to zero velocity.
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*
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* @param ispeed motor power
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*/
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void forward(double ispeed) override;
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/**
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* Drive the robot in an arc (using open-loop control). Uses velocity mode. Sets the middle motor
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* to zero velocity.
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*
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* The algorithm is (approximately):
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* leftPower = ySpeed + zRotation
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* rightPower = ySpeed - zRotation
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*
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* @param iySpeed speed on y axis (forward)
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* @param izRotation speed around z axis (up)
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*/
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void driveVector(double iySpeed, double izRotation) override;
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/**
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* Drive the robot in an arc. Uses voltage mode. Sets the middle motor to zero velocity.
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*
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* The algorithm is (approximately):
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* leftPower = forwardSpeed + yaw
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* rightPower = forwardSpeed - yaw
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*
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* @param iforwadSpeed speed in the forward direction
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* @param iyaw speed around the vertical axis
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*/
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void driveVectorVoltage(double iforwardSpeed, double iyaw) override;
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/**
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* Turn the robot clockwise (using open-loop control). Uses velocity mode. Sets the middle motor
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* to zero velocity.
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*
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* @param ispeed motor power
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*/
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void rotate(double ispeed) override;
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/**
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* Stop the robot (set all the motors to 0). Uses velocity mode.
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*/
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void stop() override;
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/**
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* Drive the robot with a tank drive layout. Uses voltage mode. Sets the middle motor to zero
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* velocity.
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*
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* @param ileftSpeed left side speed
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* @param irightSpeed right side speed
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* @param ithreshold deadband on joystick values
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*/
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void tank(double ileftSpeed, double irightSpeed, double ithreshold = 0) override;
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/**
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* Drive the robot with an arcade drive layout. Uses voltage mode. Sets the middle motor to zero
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* velocity.
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*
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* @param iforwardSpeed speed in the forward direction
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* @param iyaw speed around the vertical axis
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* @param ithreshold deadband on joystick values
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*/
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void arcade(double iforwardSpeed, double iyaw, double ithreshold = 0) override;
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/**
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* Drive the robot with a curvature drive layout. The robot drives in constant radius turns
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* where you control the curvature (inverse of radius) you drive in. This is advantageous
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* because the forward speed will not affect the rate of turning. The algorithm switches to
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* arcade if the forward speed is 0. Uses voltage mode. Sets the middle motor to zero velocity.
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*
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* @param iforwardSpeed speed in the forward direction
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* @param icurvature curvature (inverse of radius) to drive in
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* @param ithreshold deadband on joystick values
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*/
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void curvature(double iforwardSpeed, double icurvature, double ithreshold = 0) override;
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/**
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* Drive the robot with an arcade drive layout. Uses voltage mode.
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*
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* @param irightSpeed speed to the right
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* @param iforwardSpeed speed in the forward direction
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* @param iyaw speed around the vertical axis
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* @param ithreshold deadband on joystick values
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*/
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virtual void
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hArcade(double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold = 0);
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/**
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* Drive the robot with an curvature drive layout. Uses voltage mode.
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*
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* @param irightSpeed speed to the right
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* @param iforwardSpeed speed in the forward direction
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* @param icurvature curvature (inverse of radius) to drive in
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* @param ithreshold deadband on joystick values
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*/
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virtual void
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hCurvature(double irightSpeed, double iforwardSpeed, double icurvature, double ithreshold = 0);
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/**
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* Power the left side motors. Uses velocity mode.
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*
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* @param ispeed The motor power.
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*/
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void left(double ispeed) override;
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/**
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* Power the right side motors. Uses velocity mode.
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*
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* @param ispeed The motor power.
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*/
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void right(double ispeed) override;
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/**
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* Power the middle motors. Uses velocity mode.
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*
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* @param ispeed The motor power.
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*/
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virtual void middle(double ispeed);
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/**
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* Read the sensors.
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*
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* @return sensor readings in the format {left, right, middle}
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*/
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std::valarray<std::int32_t> getSensorVals() const override;
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/**
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* Reset the sensors to their zero point.
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*/
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void resetSensors() override;
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/**
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* Set the brake mode for each motor.
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*
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* @param mode new brake mode
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*/
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void setBrakeMode(AbstractMotor::brakeMode mode) override;
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/**
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* Set the encoder units for each motor.
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*
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* @param units new motor encoder units
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*/
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void setEncoderUnits(AbstractMotor::encoderUnits units) override;
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/**
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* Set the gearset for each motor.
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*
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* @param gearset new motor gearset
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*/
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void setGearing(AbstractMotor::gearset gearset) override;
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/**
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* Sets a new maximum velocity in RPM. The usable maximum depends on the maximum velocity of the
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* currently installed gearset. If the configured maximum velocity is greater than the attainable
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* maximum velocity from the currently installed gearset, the ChassisModel will still scale to
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* that velocity.
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*
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* @param imaxVelocity The new maximum velocity.
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*/
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void setMaxVelocity(double imaxVelocity) override;
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/**
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* @return The current maximum velocity.
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*/
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double getMaxVelocity() const override;
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/**
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* Sets a new maximum voltage in mV in the range `[0-12000]`.
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*
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* @param imaxVoltage The new maximum voltage.
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*/
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void setMaxVoltage(double imaxVoltage) override;
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/**
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* @return The maximum voltage in mV in the range `[0-12000]`.
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*/
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double getMaxVoltage() const override;
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/**
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* Returns the left side motor.
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*
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* @return the left side motor
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*/
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std::shared_ptr<AbstractMotor> getLeftSideMotor() const;
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/**
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* Returns the left side motor.
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*
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* @return the left side motor
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*/
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std::shared_ptr<AbstractMotor> getRightSideMotor() const;
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/**
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* @return The middle motor.
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*/
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std::shared_ptr<AbstractMotor> getMiddleMotor() const;
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protected:
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double maxVelocity;
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double maxVoltage;
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std::shared_ptr<AbstractMotor> leftSideMotor;
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std::shared_ptr<AbstractMotor> rightSideMotor;
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std::shared_ptr<AbstractMotor> middleMotor;
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std::shared_ptr<ContinuousRotarySensor> leftSensor;
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std::shared_ptr<ContinuousRotarySensor> rightSensor;
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std::shared_ptr<ContinuousRotarySensor> middleSensor;
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};
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} // namespace okapi
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