/// <summary> /// Cartesian drive method for Mecanum wheeled robots /// </summary> /// <remarks>A method for driving Mecanum wheeled robots in the cartesian plane. /// There are 4 wheels on the robot, arranged so that the front and back wheels are /// toed in 45 degrees. When looking at the wheels from the top, the roller axles should /// form an X across the robot. /// <para/>This is designed to be directly driven by joystick axes.</remarks> /// <param name="x">The speed that the robot should drive in the X direction.</param> /// <param name="y">The speed that the robbot should drive in the Y direction.</param> /// <param name="rotation">The rate of rotation for the robot that is independed of translation.</param> /// <param name="gyroAngle">The current angle reading from the gyro. Use this to implement field-oriented controls.</param> public void MecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle = 0) { if (!MecanumCartesianReported) { HAL.Base.HAL.Report(ResourceType.kResourceType_RobotDrive, Instances.kRobotDrive_MecanumCartesian, (byte)NumMotors); MecanumCartesianReported = true; } double xIn = x; double yIn = y; // Negate y for the joystick. yIn = -yIn; // Compenstate for gyro angle. RotateVector(ref xIn, ref yIn, gyroAngle); double[] wheelSpeeds = new double[MaxNumberOfMotors]; wheelSpeeds[(int)MotorType.FrontLeft] = xIn + yIn + rotation; wheelSpeeds[(int)MotorType.FrontRight] = -xIn + yIn - rotation; wheelSpeeds[(int)MotorType.RearLeft] = -xIn + yIn + rotation; wheelSpeeds[(int)MotorType.RearRight] = xIn + yIn - rotation; Normalize(wheelSpeeds); FrontLeftMotor.Set(wheelSpeeds[(int)MotorType.FrontLeft] * MaxOutput, SyncGroup); FrontRightMotor.Set(wheelSpeeds[(int)MotorType.FrontRight] * MaxOutput, SyncGroup); RearLeftMotor.Set(wheelSpeeds[(int)MotorType.RearLeft] * MaxOutput, SyncGroup); RearRightMotor.Set(wheelSpeeds[(int)MotorType.RearRight] * MaxOutput, SyncGroup); if (SyncGroup != 0) { CANJaguar.UpdateSyncGroup(SyncGroup); } SafetyHelper?.Feed(); }
/// <summary> /// Feeds the Motor Safety Timer /// </summary> /// <remarks>This method should be called by the derived class whenever its /// setpoint gets updated, in order to feed the watchdog.</remarks> public void Feed() => m_safetyHelper.Feed();