Robot Trigger Drive
I've been looking around for posts but I haven't found much on the subject, just thought I could possibly help those who may have the same idea. This class extends upon the official RobotDrive class in the FRC library. It adds a method which will allow the axes of two triggers (Example: Xbox Controller Triggers) for separate forward and reverse drive. This method of driving can often be seen in video games such as Forza 5 so it may (BIG MAYBE) help drivers who are familiar with this kind of drive. Uses a lot of code already available in the RobotDrive class.
Code:
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SpeedController;
// Start of RobotDriveXbox
public class RobotTriggerDrive extends RobotDrive {
/**
* Constructor for RobotDrive with 2 motors specified with channel numbers. Set up parameters for
* a two wheel drive system where the left and right motor pwm channels are specified in the call.
* This call assumes Talons for controlling the motors. (Taken from official RobotDrive class)
* @param leftMotorChannel is an integer that represents the PWM channel number of the left motor
* @param rightMotorChannel is an integer that represents the PWM channel number of the left motor
*/
public RobotTriggerDrive(final int leftMotorChannel, final int rightMotorChannel) {
super(leftMotorChannel, rightMotorChannel);
} // End of constructor
/**
* Constructor for RobotDrive with 2 motors specified as SpeedController objects. The
* SpeedController version of the constructor enables programs to use the RobotDrive classes with
* subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
* the curve to suit motor bias or dead-band elimination. (Taken from official RobotDrive class)
* @param leftMotor is a SpeedController Object which controls the speed of the left motor of the robot
* @param rightMotor is a SpeedController Object which controls the speed of the right motor of the robot
*/
public RobotTriggerDrive(SpeedController leftMotor, SpeedController rightMotor) {
super(leftMotor, rightMotor);
} // End of constructor
/**
* Constructor for RobotDrive with 4 motors specified with channel numbers. Set up parameters for
* a four wheel drive system where all four motor pwm channels are specified in the call. This
* call assumes Talons for controlling the motors. (Taken from official RobotDrive class)
* @param frontLeftMotor is an integer that represents the channel number of the front left motor
* @param rearLeftMotor is an integer that represents the channel number of the back left motor
* @param frontRightMotor is an integer that represents the channel number of the front right motor
* @param rearRightMotor is an integer that represents the channel number of the back right motor
*/
public RobotTriggerDrive(final int frontLeftMotor, final int rearLeftMotor, final int frontRightMotor, final int rearRightMotor) {
super(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);
} // End of constructor
/**
* Constructor for RobotDrive with 4 motors specified as SpeedController objects. Speed controller
* input version of RobotDrive (Taken from official RobotDrive class)
* @param frontLeftMotor is a SpeedController Object which controls the speed of the front left motor of the robot
* @param rearLeftMotor is a SpeedController Object which controls the speed of the back left motor of the robot
* @param frontRightMotor is a SpeedController Object which controls the speed of the front right motor of the robot
* @param rearRightMotor is a SpeedController Object which controls the speed of the back right motor of the robot
*/
public RobotTriggerDrive(SpeedController frontLeftMotor, SpeedController rearLeftMotor, SpeedController frontRightMotor, SpeedController rearRightMotor) {
super(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);
} // End of constructor
/**
* Implements an arcadeDrive method with trigger drive functionality
* @param moveStick is a Human Interface Device being used to control the robot forwards & backwards
* @param forwardsTrigger is the trigger axis being used to control the forward movement of the robot
* @param backwardsTrigger is the trigger axis being used to control the backward movement of the robot
* @param rotateAxis is the axis being used to control the left & right movements of the robot
*/
public void arcadeDrive(GenericHID moveStick, final int forwardsTrigger, final int backwardsTrigger, final int rotateAxis) {
// Moves robot using both trigger axes
double moveValue = moveStick.getRawAxis(forwardsTrigger) - moveStick.getRawAxis(backwardsTrigger);
// Rotates robot left and right on a single axis
double rotateValue = moveStick.getRawAxis(rotateAxis);
// Drives robot at provided move and rotate values
arcadeDrive(moveValue, rotateValue, true);
} // End of method
} // End of class
|
