valor::differential::Differential Class Reference

Inheritance diagram for valor::differential::Differential:

Public Member Functions
	Differential (std::vector< std::unique_ptr< BaseController > > leftMotors, std::vector< std::unique_ptr< BaseController > > rightMotors, std::unique_ptr< gyro::Gyro > gyro, units::meter_t trackWidth, units::meter_t wheelDiameter)
FrameWrapper< FieldFrame, frc::Pose2d >	GetPose () const
FrameWrapper< FieldFrame, frc::Pose2d >	GetRawPose () const
FrameWrapper< FieldFrame, frc::ChassisSpeeds >	GetFieldRelativeSpeeds () const
FrameWrapper< RobotFrame, frc::ChassisSpeeds >	GetRobotRelativeSpeeds () const
frc::DifferentialDriveWheelPositions	GetWheelPositions () const
frc::DifferentialDriveWheelSpeeds	GetWheelSpeeds () const
void	ApplyRequest (requests::ApplyChassisSpeeds request)
void	ApplyRequest (requests::ApplyWheelSpeeds request)
void	ResetOdometry (frc::Pose2d pose)
Public Member Functions inherited from valor::BaseSubsystem
	BaseSubsystem (std::string name)
	Construct a new Valor Subsystem object.
virtual void	AnalyzeDashboard ()
	Synchronize dashboard data (both read and write).
virtual void	AssessInputs ()
	Read controller logic and set subsystem state.
virtual void	AssignOutputs ()
	Read subsystem state and send motor commands.
virtual void	Reset ()
	Reset all subsystem state.
void	SetGamepads (valor::Gamepad *_operatorGamepad, valor::Gamepad *_driverGamepad)
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	Publish a value to NetworkTables under the given field.
template<typename T>
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
void	StartOdomThread (units::hertz_t freq)
virtual void	UpdateOdometry ()
Protected Member Functions inherited from valor::Loggable
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
virtual void	LoggablePeriodic ()
	Periodic callback for logging updates.

Protected Attributes
std::vector< std::unique_ptr< BaseController > >	leftMotors
std::vector< std::unique_ptr< BaseController > >	rightMotors
std::unique_ptr< gyro::Gyro >	gyro
util::Locked< frc::DifferentialDrivePoseEstimator >	estimator
Protected Attributes inherited from valor::BaseSubsystem
valor::Gamepad *	operatorGamepad
valor::Gamepad *	driverGamepad

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()

Member Data Documentation

estimator

util::Locked<frc::DifferentialDrivePoseEstimator> valor::differential::Differential::estimator

protected

Initial value:

{kinematics, gyro->GetRotation().ToRotation2d(), GetWheelPositions().left,
                                                                GetWheelPositions().right, frc::Pose2d{}}

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

• src/main/include/valkyrie/drivetrain/differential/Differential.h