C# Class CSharpRoboticsLib.Drive.DriveHelper

Does all calculations for driving the robot split-arcade style. Contains an IEncoderDrive object. Does not handle shifting.

Exibir arquivo Open project: shockwave4488/CSharpRoboticsLib

Public Methods

Method	Description
Drive ( double speed, double turn, bool isQuickTurn, bool isHighGear ) : void	Does all calculations and subroutines for driving the robot split-arcade style.
DriveHelper ( ITankDrive drive, double speedDeadzone, double turnDeadzone, double highNonLinearity, double lowNonLinearity, double highSensitivity, double lowSensitivity ) : System	Initializes a new DriveHelper

Private Methods

Method	Description
HandleDeadband ( double val, double deadband ) : double	Handles the deadband in the controllers. For Xbox controllers, the deadband on the joysticks is about 0.2

Method Details

Drive() public method

Does all calculations and subroutines for driving the robot split-arcade style.

public Drive ( double speed, double turn, bool isQuickTurn, bool isHighGear ) : void
speed	double	Linear Control
turn	double	Rotational Control
isQuickTurn	bool	Allows less smooth, but faster turning. Will likely be turned on in low gear.
isHighGear	bool	Is the robot in High Gear? (requires different sensitivity values)
return	void

DriveHelper() public method

Initializes a new DriveHelper

public DriveHelper ( ITankDrive drive, double speedDeadzone, double turnDeadzone, double highNonLinearity, double lowNonLinearity, double highSensitivity, double lowSensitivity ) : System
drive	ITankDrive	to control
speedDeadzone	double	deadband value for the speed axis
turnDeadzone	double	deadband value for the turn axis
highNonLinearity	double	Non-linearity for the turn input in high gear
lowNonLinearity	double	Non-linearity for the turn input in low gear
highSensitivity	double	turn sensitivity in high gear
lowSensitivity	double	turn sensitivity in low gear
return	System