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Drivetrain API Reference

This document is the complete API reference for the Drivetrain class in Wombat-CC-Drivetrain.

Class Construction

Signature:

Drivetrain(int FL_motor, int FR_motor, int RL_motor, int RR_motor)

Parameters:

  • FL_motor: Front-left motor port
  • FR_motor: Front-right motor port
  • RL_motor: Rear-left motor port
  • RR_motor: Rear-right motor port

Notes:

  • Constructor only configures motors.
  • Line sensors are configured separately through ConfigureLineTrackingSensors overloads.

Configuration Methods

ConfigureLineTrackingSensors, Two Sensors

void ConfigureLineTrackingSensors(int FL_IR, int FR_IR)

Use this overload for a front sensor pair.

ConfigureLineTrackingSensors, Four Sensors

void ConfigureLineTrackingSensors(int FL_IR, int FR_IR, int RR_IR, int RL_IR)

Use this overload when all four corners have line sensors.

SetLineTrackingThresholds, Two Sensors

void SetLineTrackingThresholds(int FL_white, int FR_white, int FL_black, int FR_black)

SetLineTrackingThresholds, Four Sensors

void SetLineTrackingThresholds(
    int FL_white,
    int FR_white,
    int RR_white,
    int RL_white,
    int FL_black,
    int FR_black,
    int RR_black,
    int RL_black)

Rules:

  • Sensor count and threshold count must match.
  • Two-sensor ports require two-sensor thresholds.
  • Four-sensor ports require four-sensor thresholds.

SetPerformance

void SetPerformance(double FLP, double FRP, double RLP, double RRP)

Purpose:

  • Apply per-motor compensation multipliers.

Debug Methods

void SetDebugEnabled(bool enabled)
bool IsDebugEnabled() const

Configuration Status

bool IsLineTrackingConfigured() const

Returns true only when:

  • Sensor ports are configured
  • Thresholds are configured
  • Sensor and threshold mode match, both 2 or both 4

Movement API Groups

All movement calls are grouped under public members:

  • DriveByEncoder
  • DriveLineTracking
  • StrafeByEncoder
  • StrafeLineTracking
  • Rotate
  • Diagonal
  • Line

DriveByEncoder

drivetrain.DriveByEncoder.Forward(int ticks, int speed)
drivetrain.DriveByEncoder.Backward(int ticks, int speed)

Behavior:

  • Uses encoder target ticks.
  • Uses configured performance multipliers.

DriveLineTracking

drivetrain.DriveLineTracking.Forward(int ticks, int speed)
drivetrain.DriveLineTracking.Backward(int ticks, int speed)
drivetrain.DriveLineTracking.ForwardToLine(int speed)
drivetrain.DriveLineTracking.BackwardToLine(int speed)

Behavior:

  • Requires valid line-tracking configuration.
  • Four-sensor mode uses FL FR RR RL directly in correction loops.
  • Two-sensor mode preserves legacy front-pair behavior.

StrafeByEncoder

drivetrain.StrafeByEncoder.Left(int ticks, int speed)
drivetrain.StrafeByEncoder.Right(int ticks, int speed)

StrafeLineTracking

drivetrain.StrafeLineTracking.Left(int ticks, int speed)
drivetrain.StrafeLineTracking.Right(int ticks, int speed)

drivetrain.StrafeLineTracking.LeftToLine(int speed)
drivetrain.StrafeLineTracking.RightToLine(int speed)

drivetrain.StrafeLineTracking.ToLineLeft(int speed)
drivetrain.StrafeLineTracking.ToLineRight(int speed)

drivetrain.StrafeLineTracking.LeftOnToLine(int speed)
drivetrain.StrafeLineTracking.RightOnToLine(int speed)

Notes:

  • LeftToLine and ToLineLeft are equivalent aliases.
  • RightToLine and ToLineRight are equivalent aliases.
  • LeftOnToLine and RightOnToLine require all configured sensors to detect the line in four-sensor mode.

Rotate

drivetrain.Rotate.Left(int ticks, int speed)
drivetrain.Rotate.Right(int ticks, int speed)

Diagonal

drivetrain.Diagonal.ForwardLeft(int ticks, int speed)
drivetrain.Diagonal.ForwardRight(int ticks, int speed)
drivetrain.Diagonal.BackwardLeft(int ticks, int speed)
drivetrain.Diagonal.BackwardRight(int ticks, int speed)

Line

drivetrain.Line.Square(int speed)
drivetrain.Line.Center(int speed)

Behavior:

  • Square attempts to align both sides to a line.
  • Center attempts to center off line state according to current correction rules.

Direction Conventions

  • Drive: positive speed means forward
  • Strafe: positive speed means right
  • Rotate: positive speed means clockwise

Error And Warning Behavior

Line-tracking methods print a warning and return if configuration is invalid.

Typical causes:

  • Sensors not configured
  • Thresholds not configured
  • Configured sensor count does not match threshold count

Recommended Startup Sequence

Drivetrain drivetrain(FL, FR, RL, RR);
drivetrain.SetPerformance(1.0, 1.0, 1.0, 1.0);

drivetrain.ConfigureLineTrackingSensors(FL_IR, FR_IR, RR_IR, RL_IR);
drivetrain.SetLineTrackingThresholds(
    FL_white, FR_white, RR_white, RL_white,
    FL_black, FR_black, RR_black, RL_black);

Then call grouped movement methods as needed.