wolflib::Chassis Class Reference

#include <chassis.hpp>

Public Member Functions
	Chassis (ChassisConfig config)
	~Chassis ()
	Chassis (const Chassis &)=delete
Chassis &	operator= (const Chassis &)=delete
bool	calibrate (bool calibrateImu=true, std::uint32_t timeoutMs=5000)
void	setPose (Pose pose)
void	setPose (double x, double y, double theta)
Pose	getPose () const
Pose	getOdometryPose () const
MclEstimate	getMclEstimate () const
void	resetLocalPosition ()
void	setMclFusionEnabled (bool enabled)
bool	isMclFusionEnabled () const
void	resetMclToOdometry (double positionStdDev=1, double thetaStdDev=3)
void	resetMclGlobal ()
MapStatus	beginMapping (bool clearExisting=true)
MapStatus	finishMappingAndSave ()
void	cancelMapping ()
MapStatus	loadMap ()
MappingInfo	getMappingInfo () const
const OccupancyMap &	getMap () const
void	setBrakeMode (pros::motor_brake_mode_e_t mode)
void	tank (int left, int right, bool disableDriveCurve=false)
void	arcade (int throttle, int turn, bool disableDriveCurve=false, double desaturateBias=0.5)
void	curvature (int throttle, int turn, bool disableDriveCurve=false)
bool	turnToHeading (double theta, std::uint32_t timeoutMs, TurnOptions options={})
bool	turnToPoint (double x, double y, std::uint32_t timeoutMs, TurnOptions options={})
bool	swingToHeading (double theta, DriveSide lockedSide, std::uint32_t timeoutMs, TurnOptions options={})
bool	swingToPoint (double x, double y, DriveSide lockedSide, std::uint32_t timeoutMs, TurnOptions options={})
bool	moveToPoint (double x, double y, std::uint32_t timeoutMs, MoveToPointOptions options={})
bool	moveToPose (double x, double y, double theta, std::uint32_t timeoutMs, MoveToPoseOptions options={})
void	waitUntil (double progress)
void	waitUntilDone ()
void	cancelMotion ()
void	cancelAllMotions ()
bool	isInMotion () const
PID &	lateralPID ()
PID &	angularPID ()
const ChassisConfig &	getConfig () const

Constructor & Destructor Documentation

Chassis() [1/2]

wolflib::Chassis::Chassis ( ChassisConfig  config )

explicit

~Chassis()

wolflib::Chassis::~Chassis

(

)

Chassis() [2/2]

wolflib::Chassis::Chassis ( const Chassis &  )

delete

Member Function Documentation

angularPID()

PID & wolflib::Chassis::angularPID

(

)

arcade()

void wolflib::Chassis::arcade	(	int	throttle,
		int	turn,
		bool	disableDriveCurve = false,
		double	desaturateBias = 0.5
	)

beginMapping()

MapStatus wolflib::Chassis::beginMapping

(

bool

clearExisting = true

)

calibrate()

bool wolflib::Chassis::calibrate	(	bool	calibrateImu = true,
		std::uint32_t	timeoutMs = 5000
	)

cancelAllMotions()

void wolflib::Chassis::cancelAllMotions

(

)

cancelMapping()

void wolflib::Chassis::cancelMapping

(

)

cancelMotion()

void wolflib::Chassis::cancelMotion

(

)

curvature()

void wolflib::Chassis::curvature	(	int	throttle,
		int	turn,
		bool	disableDriveCurve = false
	)

finishMappingAndSave()

MapStatus wolflib::Chassis::finishMappingAndSave

(

)

getConfig()

const ChassisConfig & wolflib::Chassis::getConfig

(

)

const

getMap()

const OccupancyMap & wolflib::Chassis::getMap

(

)

const

getMappingInfo()

MappingInfo wolflib::Chassis::getMappingInfo

(

)

const

getMclEstimate()

MclEstimate wolflib::Chassis::getMclEstimate

(

)

const

getOdometryPose()

Pose wolflib::Chassis::getOdometryPose

(

)

const

getPose()

Pose wolflib::Chassis::getPose

(

)

const

isInMotion()

bool wolflib::Chassis::isInMotion

(

)

const

isMclFusionEnabled()

bool wolflib::Chassis::isMclFusionEnabled

(

)

const

lateralPID()

PID & wolflib::Chassis::lateralPID

(

)

loadMap()

MapStatus wolflib::Chassis::loadMap

(

)

moveToPoint()

bool wolflib::Chassis::moveToPoint	(	double	x,
		double	y,
		std::uint32_t	timeoutMs,
		MoveToPointOptions	options = {}
	)

moveToPose()

bool wolflib::Chassis::moveToPose	(	double	x,
		double	y,
		double	theta,
		std::uint32_t	timeoutMs,
		MoveToPoseOptions	options = {}
	)

operator=()

Chassis & wolflib::Chassis::operator= ( const Chassis &  )

delete

resetLocalPosition()

void wolflib::Chassis::resetLocalPosition

(

)

resetMclGlobal()

void wolflib::Chassis::resetMclGlobal

(

)

resetMclToOdometry()

void wolflib::Chassis::resetMclToOdometry	(	double	positionStdDev = 1,
		double	thetaStdDev = 3
	)

setBrakeMode()

void wolflib::Chassis::setBrakeMode

(

pros::motor_brake_mode_e_t

mode

)

setMclFusionEnabled()

void wolflib::Chassis::setMclFusionEnabled

(

bool

enabled

)

setPose() [1/2]

void wolflib::Chassis::setPose	(	double	x,
		double	y,
		double	theta
	)

setPose() [2/2]

void wolflib::Chassis::setPose

(

Pose

pose

)

swingToHeading()

bool wolflib::Chassis::swingToHeading	(	double	theta,
		DriveSide	lockedSide,
		std::uint32_t	timeoutMs,
		TurnOptions	options = {}
	)

swingToPoint()

bool wolflib::Chassis::swingToPoint	(	double	x,
		double	y,
		DriveSide	lockedSide,
		std::uint32_t	timeoutMs,
		TurnOptions	options = {}
	)

tank()

void wolflib::Chassis::tank	(	int	left,
		int	right,
		bool	disableDriveCurve = false
	)

turnToHeading()

bool wolflib::Chassis::turnToHeading	(	double	theta,
		std::uint32_t	timeoutMs,
		TurnOptions	options = {}
	)

turnToPoint()

bool wolflib::Chassis::turnToPoint	(	double	x,
		double	y,
		std::uint32_t	timeoutMs,
		TurnOptions	options = {}
	)

waitUntil()

void wolflib::Chassis::waitUntil

(

double

progress

)

waitUntilDone()

void wolflib::Chassis::waitUntilDone

(

)

---

The documentation for this class was generated from the following file:

• include/wolflib/chassis.hpp