Chassis.h

Go to the documentation of this file.

#pragma once
 
#include <Arduino.h>
#include <Romi32U4Motors.h>
 
class Chassis
{
public:
    LeftMotor leftMotor;
    RightMotor rightMotor;
 
protected:
    const float cmPerEncoderTick;
    const float robotRadius;
    const uint16_t ctrlIntervalMS = 16;
 
public:
    Chassis(float wheelDiam = 7, float ticksPerRevolution = 1440, float wheelTrack = 14.7) 
        : cmPerEncoderTick(wheelDiam * M_PI / ticksPerRevolution), robotRadius(wheelTrack / 2.0)
        {}
    
    void init(void);
    
    void setMotorPIDcoeffs(float kp, float ki);
 
    void idle(void);
 
    void setMotorEfforts(int leftEffort, int rightEffort);
 
    void setWheelSpeeds(float leftSpeed, float rightSpeed);
 
    void setTwist(float forwardSpeed, float turningSpeed);
 
    void driveFor(float forwardDistance, float forwardSpeed, bool block = false);
    
    void turnFor(float turnAngle, float turningSpeed, bool block = false);
 
    bool checkMotionComplete(void);
 
    void printSpeeds(void);
    void printEncoderCounts(void);
 
    inline void updateEncoderDeltas();
};
 
extern Chassis chassis;