valor::mecanum::Mecanum Class Reference

Inheritance diagram for valor::mecanum::Mecanum:

Classes
struct	Wheels

Public Member Functions
	Mecanum (wpi::array< std::pair< std::unique_ptr< BaseController >, frc::Translation2d >, NUM_WHEELS > wheels, std::unique_ptr< gyro::Gyro > gyro, 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::MecanumDriveWheelPositions	GetWheelPositions () const
frc::MecanumDriveWheelSpeeds	GetWheelSpeeds () const
void	ApplyRequest (requests::ApplyChassisSpeeds)
void	ApplyRequest (requests::ApplyWheelSpeeds)
void	ResetOdometry (frc::Pose2d pose)
void	StartOdomThread (units::hertz_t freq)
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
	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.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Static Public Attributes
static constexpr int	NUM_WHEELS = 4

Protected Member Functions
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::unique_ptr< gyro::Gyro >	gyro
Wheels	wheels
util::Locked< frc::MecanumDrivePoseEstimator >	estimator
Protected Attributes inherited from valor::BaseSubsystem
valor::Gamepad *	operatorGamepad = nullptr
valor::Gamepad *	driverGamepad = nullptr

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

Member Data Documentation

estimator

util::Locked<frc::MecanumDrivePoseEstimator> valor::mecanum::Mecanum::estimator

protected

Initial value:

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

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

• src/main/include/valkyrie/drivetrain/mecanum/Mecanum.h