#include <Chassis.h>

Public Member Functions
	Chassis (float wheelDiam=7, float ticksPerRevolution=1440, float wheelTrack=14.7)
	Chassis constructor. More...

void	init (void)
	Initializes the chassis. Must be called in setup(). More...

void	setMotorPIDcoeffs (float kp, float ki)
	Sets PID coefficients for the motors. Not independent. More...

void	idle (void)
	Idles chassis. Motors will stop. More...

void	setMotorEfforts (int leftEffort, int rightEffort)
	Sets motor efforts. Max speed is 420. More...

void	setWheelSpeeds (float leftSpeed, float rightSpeed)
	Sets target wheel speeds in cm/sec. More...

void	setTwist (float forwardSpeed, float turningSpeed)
	Sets target motion for the chassis. More...

void	driveFor (float forwardDistance, float forwardSpeed, bool block=false)
	Commands the robot to drive at a distance and speed. More...

void	turnFor (float turnAngle, float turningSpeed, bool block=false)
	Commands the chassis to turn a set angle. More...

bool	checkMotionComplete (void)
	Checks if the motion commanded by driveFor() or turnFor() is done. More...

void	printSpeeds (void)

void	printEncoderCounts (void)

void	updateEncoderDeltas ()

Data Fields
LeftMotor	leftMotor

RightMotor	rightMotor

Protected Attributes
const float	cmPerEncoderTick

const float	robotRadius

const uint16_t	ctrlIntervalMS = 16

Detailed Description

The Chassis class manages the motors and encoders.

Chassis sets up a hardware-based timer on a 16ms interval. At each interrupt, it reads the current encoder counts and, if controlling for speed, calculates the effort using a PID controller for each motor, which can be adjusted by the user.

The encoders are attached automatically and the encoders will count regardless of the state of the robot.

Several methods are provided for low level control to commands for driving or turning.

Definition at line 18 of file Chassis.h.

Constructor & Destructor Documentation

◆ Chassis()

Chassis::Chassis	(	float	wheelDiam = `7`,
		float	ticksPerRevolution = `1440`,
		float	wheelTrack = `14.7`
	)

inline

Chassis constructor.

Parameters

wheelDiam	Wheel diameter in cm.
ticksPerRevolution	Enccoder ticks per wheel revolution.
wheelTrack	Distance between wheels in cm.

Definition at line 36 of file Chassis.h.

Member Function Documentation

◆ checkMotionComplete()

bool Chassis::checkMotionComplete ( void )

Checks if the motion commanded by driveFor() or turnFor() is done.

Returns: Returns true if the motion is complete.

Definition at line 118 of file Chassis.cpp.

References Romi32U4Motor::checkComplete(), leftMotor, and rightMotor.

Referenced by driveFor(), and turnFor().

◆ driveFor()

void Chassis::driveFor	(	float	forwardDistance,
		float	forwardSpeed,
		bool	block = `false`
	)

Commands the robot to drive at a distance and speed.

The chassis will stop when the distance is reached.

Parameters

forwardDistance	Target distance in cm
forwardSpeed	Target speed rate in cm/sec
block	If true, the function blocks until the motion is complete

Definition at line 80 of file Chassis.cpp.

References checkMotionComplete(), cmPerEncoderTick, leftMotor, Romi32U4Motor::moveFor(), rightMotor, and setTwist().

◆ idle()

void Chassis::idle ( void )

Idles chassis. Motors will stop.

Stops the motors. It calls setMotorEfforts() so that the wheels won't lock. Use setSpeeds() if you want the wheels to 'lock' in place.

Definition at line 46 of file Chassis.cpp.

References setMotorEfforts().

Referenced by idle().

◆ init()

void Chassis::init ( void )

Initializes the chassis. Must be called in setup().

Call init() in your setup() routine. It sets up some internal timers so that the speed controllers for the wheels will work properly.

Here's how it works: Motor::init() starts a hardware timer on a 16 ms loop. Every time the timer "rolls over," an interrupt service routine (ISR) is called that updates the motor speeds and sets a flag to notify Chassis that it is time to calculate the control inputs.

When set up this way, pins 6, 12, and 13 cannot be used with analogWrite()

Definition at line 13 of file Chassis.cpp.

References Romi32U4Motor::init().

Referenced by setup().

◆ printEncoderCounts()

void Chassis::printEncoderCounts ( void )

Definition at line 152 of file Chassis.cpp.

References Romi32U4Motor::getCount(), leftMotor, and rightMotor.

◆ printSpeeds()

void Chassis::printSpeeds ( void )

Definition at line 144 of file Chassis.cpp.

References leftMotor, rightMotor, and Romi32U4Motor::speed.

◆ setMotorEfforts()

void Chassis::setMotorEfforts	(	int	leftEffort,
		int	rightEffort
	)

Sets motor efforts. Max speed is 420.

Parameters

leftEffort	Effort for left motor
rightEffort	Effort for right motor

Sets the motor efforts.

Definition at line 54 of file Chassis.cpp.

References leftMotor, rightMotor, LeftMotor::setMotorEffort(), and RightMotor::setMotorEffort().

Referenced by idle().

◆ setMotorPIDcoeffs()

void Chassis::setMotorPIDcoeffs	(	float	kp,
		float	ki
	)

Sets PID coefficients for the motors. Not independent.

Definition at line 35 of file Chassis.cpp.

References leftMotor, rightMotor, and Romi32U4Motor::setPIDCoeffients().

Referenced by setup().

◆ setTwist()

void Chassis::setTwist	(	float	forwardSpeed,
		float	turningSpeed
	)

Sets target motion for the chassis.

Parameters

forwardSpeed	Target forward speed in cm/sec
rightSpeed	Target spin rate in deg/sec

Definition at line 70 of file Chassis.cpp.

References cmPerEncoderTick, ctrlIntervalMS, leftMotor, rightMotor, robotRadius, and Romi32U4Motor::setTargetSpeed().

Referenced by driveFor(), and turnFor().

◆ setWheelSpeeds()

void Chassis::setWheelSpeeds	(	float	leftSpeed,
		float	rightSpeed
	)

Sets target wheel speeds in cm/sec.

Parameters

leftSpeed	Target speed for left wheel in cm/sec
rightSpeed	Target speed for right wheel in cm/sec

Definition at line 60 of file Chassis.cpp.

References cmPerEncoderTick, ctrlIntervalMS, leftMotor, rightMotor, and Romi32U4Motor::setTargetSpeed().

◆ turnFor()

void Chassis::turnFor	(	float	turnAngle,
		float	turningSpeed,
		bool	block = `false`
	)

Commands the chassis to turn a set angle.

Parameters

turnAngle	Target angle to turn in degrees
turningSpeed	Target spin rate in deg/sec
block	If true, the function blocks until the motion is complete

Definition at line 99 of file Chassis.cpp.

References checkMotionComplete(), cmPerEncoderTick, leftMotor, Romi32U4Motor::moveFor(), rightMotor, robotRadius, and setTwist().

◆ updateEncoderDeltas()

void Chassis::updateEncoderDeltas ( void )

inline

Definition at line 135 of file Chassis.cpp.

References Romi32U4Motor::calcEncoderDelta(), leftMotor, rightMotor, and Romi32U4Motor::update().

Referenced by ISR().

Field Documentation

◆ cmPerEncoderTick

const float Chassis::cmPerEncoderTick

protected

Definition at line 25 of file Chassis.h.

Referenced by driveFor(), setTwist(), setWheelSpeeds(), and turnFor().

◆ ctrlIntervalMS

const uint16_t Chassis::ctrlIntervalMS = 16

protected

Definition at line 27 of file Chassis.h.

Referenced by setTwist(), and setWheelSpeeds().

◆ leftMotor

LeftMotor Chassis::leftMotor

Definition at line 21 of file Chassis.h.

Referenced by checkMotionComplete(), driveFor(), Romi32U4Motor::initEncoders(), leftISR(), printEncoderCounts(), printSpeeds(), setMotorEfforts(), setMotorPIDcoeffs(), setTwist(), setWheelSpeeds(), turnFor(), and updateEncoderDeltas().

◆ rightMotor

RightMotor Chassis::rightMotor

Definition at line 22 of file Chassis.h.

Referenced by checkMotionComplete(), driveFor(), Romi32U4Motor::initEncoders(), printEncoderCounts(), printSpeeds(), rightISR(), setMotorEfforts(), setMotorPIDcoeffs(), setTwist(), setWheelSpeeds(), turnFor(), and updateEncoderDeltas().

◆ robotRadius

const float Chassis::robotRadius

protected

Definition at line 26 of file Chassis.h.

Referenced by setTwist(), and turnFor().

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

src/Chassis.h
src/Chassis.cpp

Public Member Functions

Data Fields

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Chassis()

Member Function Documentation

◆ checkMotionComplete()

◆ driveFor()

◆ idle()

◆ init()

◆ printEncoderCounts()

◆ printSpeeds()

◆ setMotorEfforts()

◆ setMotorPIDcoeffs()

◆ setTwist()

◆ setWheelSpeeds()

◆ turnFor()

◆ updateEncoderDeltas()

Field Documentation

◆ cmPerEncoderTick

◆ ctrlIntervalMS

◆ leftMotor

◆ rightMotor

◆ robotRadius