Drivetrain

A way to use tankdrive in wombat.

Constructor

wom::TankDrive *tankDrive = new wom::TankDrive(config);

Config

Type	Name	Description	See Also
std::string	path	The path in the networktables
wom::Gearbox	left1	The first gearbox on the left	Gearbox
wom::Gearbox	left2	The second gearbox on the left	Gearbox
wom::Gearbox	left3	The third gearbox on the left	Gearbox
wom::Gearbox	right1	The first gearbox on the right	Gearbox
wom::Gearbox	right2	The second gearbox on the right	Gearbox
wom::Gearbox	right3	The third gearbox on the right	Gearbox

Example

// Rest of you code here
// left1, left2, left3, right1, right2, right3 are all Gearbox objects

wom::TankDriveConfig config = {
    "drivetrain",
    left1,
    left2,
    left3,
    right1,
    right2,
    right3
};

wom::TankDrive *tankDrive = new wom::TankDrive(config);

TankDriveState

An enum of states for the tankdrive.

Name	Value	Description
kIdle	0	The drivetrain is idle
kTank	1	The drivetrain is driving in tank mode

Example

wom::TankDriveState state = tankDrive->GetState();

wom::TankDriveState newState = wom::TankDriveState::kIdle;

TankSpeeds

A struct of speeds for the tankdrive.

Type	Name	Description	See Also
double	left	The speed of the left side
double	right	The speed of the right side

Example

wom::TankSpeeds speeds = tankDrive->GetSpeeds();
wom::TankSpeeds newSpeeds = {0.5, 0.5};

Methods

GetConfig

Gets the config of the drivetrain.

Returns wom::TankDriveConfig (see above)

Usage

wom::TankDriveConfig config = tankDrive->GetConfig();

GetState

Gets the state of the drivetrain.

Returns wom::TankDriveState (see above)

Usage

wom::TankDriveState state = tankDrive->GetState();

SetState

Sets the state of the drivetrain.

Usage

tankDrive->SetState(wom::TankDriveState::kIdle);

SetSpeed

Sets the speed of the drivetrain.

Usage

tankDrive->SetSpeed(speeds);

GetSpeeds

Gets the speeds of the drivetrain.

Returns wom::TankSpeeds (see above)

Usage

wom::TankSpeeds speeds = tankDrive->GetSpeeds();