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dent/Subsystems/Drivetrain.h

59 lines
1.4 KiB
C++

#ifndef DRIVETRAIN_H
#define DRIVETRAIN_H
#include "WPILib.h"
/**
* @brief Drives the robot
*
* 4 wheel mecanum drive
*/
class Drivetrain: public Subsystem {
private:
CANTalon *rightFront, //<! Front right motor
*leftFront, //<! Front left motor
*rightRear, //<! Back right motor
*leftRear; //<! Back left motor
Gyro *gyro; //<! Gyro
public:
/**
* @brief Constructs Drivetrain
*/
Drivetrain();
/**
* @brief Current motor to test
*/
enum e_motors {
FRONTRIGHT, //<! Front right motor
FRONTLEFT, //<! Front left motor
BACKRIGHT, //<! Back right motor
BACKLEFT //<! Back left motor
};
/**
* @brief No action
*/
void InitDefaultCommand();
/**
* @brief Drives the robot with mecanum
*
* @param x Joystick x value (-1.0 to 1.0)
* @param y Joystick y value (-1.0 to 1.0)
* @param z Joystick z value (-1.0 to 1.0)
* @param sensitivity Sensitivity (0.0 to 1.0)
* @param driveStraight Overrides z value to correct for motor lag (default: false)
*/
void DriveMecanum(double x, double y, double z, double sensitivity, bool driveStraight = false);
/**
* @brief Tests one motor
*
* @param motor Motor to test
* @param power Power to set motor
*/
void TestMotor(e_motors motor, double power);
/**
* @brief Sets the gyro value to 0.0
*/
void ResetGyro();
};
#endif
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