arms::chassis Namespace Reference

This namespace contains all of the functions and variables needed to control the chassis. More...

Functions
void	setBrakeMode (pros::motor_brake_mode_e_t b)
bool	settled ()
void	waitUntilFinished (double exit_error)
void	move (std::vector< double > target, double max, double exit_error, double lp, double ap, MoveFlags=NONE)
void	move (double target, double max, double exit_error, double lp, double ap, MoveFlags=NONE)
	move the chassis a target distance forward More...
void	turn (double target, double max, double exit_error, double ap, MoveFlags=NONE)
	turn the chassis a target angle More...
void	turn (Point target, double max, double exit_error, double ap, MoveFlags=NONE)
	turn the chassis to face a target point More...
void	tank (double left, double right, bool velocity=false)
	move the chassis using tank drive More...
void	arcade (double vertical, double horizontal, bool velocity=false)
	move the chassis using arcade drive More...

Variables
double	maxSpeed
std::shared_ptr< pros::Motor_Group >	leftMotors
std::shared_ptr< pros::Motor_Group >	rightMotors

Detailed Description

This namespace contains all of the functions and variables needed to control the chassis.

Function Documentation

arcade()

void arms::chassis::arcade	(	double	forward,
		double	turn,
		bool	velocity = false
	)

move the chassis using arcade drive

Parameters

forward	The forward velocity or percentage (0%-100%).
turn	The turn velocity or percentage (0%-100%).
velocity	Whether the values are velocities or percentages. Defaults to false for percentage mode.

Example 1:

//move the chassis forward at 100% speed
chassis::arcade(100, 0);

Example 2:

//move the chassis forward at 100 rpm
chassis::arcade(100, 0, true);

Example 3:

//move the chassis forward at 100% speed, and turn left at 50% speed
chassis::arcade(100, -50);

move() [1/2]

void arms::chassis::move	(	double	target,
		double	max,
		double	exit_error,
		double	lp,
		double	ap,
		MoveFlags	flags = NONE
	)

move the chassis a target distance forward

Parameters

target	The target distance to move to.
flags	The flags to use when moving the chassis.
max	The maximum speed to move at.
exit_error	The minimum distance from the target point to exit the movement.
lp	The linear kP for the movement.
ap	The angular kP for the movement.
flags	The flags to use when moving the chassis.

Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

Example 1:

//move the chassis forwards 24 inches at 100% max speed
chassis::move(24, 100);

Example 2:

//move the chassis backwards 72 inches at 100% max speed 
chassis::move(-72, 100, arms::REVERSE);

Example 3:

//move the chassis forwards 48 inches at 75% max speed with a 2 inch exit error with PID disabled
chassis::move(48, 75, 2, arms::THRU);

Moves the chassis a target distance. Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

The target parameter is used to specify how far the chassis should move. The max parameter can be used to set the maximum speed of the movement. It will default to 100% if not provided.
The exit_error parameter can be used to set the minimum error from the target point to exit the movement. It will default to what is provided in config::h::MIN_ERROR if not provided.
The lp parameter can be used to set the linear kP for the movement. It will default to what is provided in config.h if not provided.
The ap parameter can be used to set the angular kP for the movement. It will default to what is provided in config.h if not provided.
The flags parameter can be used to set the flags for the movement. A list of them and their descriptions can be found in the MoveFlags enum. The arms::RELATIVE flag is always enabled for this, as you should only use this to move a relative distance straight with the bot.

move() [2/2]

void arms::chassis::move	(	std::vector< double >	target,
		double	max,
		double	exit_error,
		double	lp,
		double	ap,
		MoveFlags	flags = NONE
	)

Perform a 2D chassis movement based on the parameters provided.

Parameters

target	The target point to move to.
max	The maximum speed to move at.
exit_error	The minimum distance from the target point to exit the movement.
lp	The linear kP for the movement.
ap	The angular kP for the movement.
flags	The flags to use when moving the chassis.

Example 1:

//move the chassis to coordinate {50, 40} at 100% max speed
chassis::move({50, 40}, 100);

Example 2:

//move the chassis to coordinate {30, 72} at 100% max speed backwards
chassis::move({30, 72}, 100, arms::REVERSE);

Example 3:

//move the chassis to the pose {48, 48, 90deg} at 75% max speed with a 2 inch exit error
//Movements to a pose will use our `Boomerang controller`, which uses trigonometry to move to the target point and angle
chassis::move({48, 48, 90}, 75, 2);

Moves the chassis to a target point. Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

The target parameter is a vector of doubles that represents the target point (x, y), or pose (x, y, theta). For a target point, our standard point-point odometry motion is used. For a target pose, our Boomerang controller is used. More information on these can be seen at MotionControl.
The max parameter can be used to set the maximum speed of the movement. It will default to 100% if not provided.
The exit_error parameter can be used to set the minimum error from the target point to exit the movement. It will default to what is provided in config::h::MIN_ERROR if not provided.
The lp parameter can be used to set the linear kP for the movement. It will default to what is provided in config.h if not provided.
The ap parameter can be used to set the angular kP for the movement. It will default to what is provided in config.h if not provided.
The flags parameter can be used to set the flags for the movement. A list of them and their descriptions can be found in the MoveFlags enum.

setBrakeMode()

void arms::chassis::setBrakeMode

(

pros::motor_brake_mode_e_t

brakeMode

)

Sets the chassis's brake mode

Parameters

brakeMode

The chassis brake mode

Example 1:

//set the chassis's brake mode to coast
chassis::setBrakeMode(pros::E_MOTOR_BRAKE_COAST);

Sets the chassis's brake mode to a valid PROS Brake Mode Options are coast, hold, and brake.

settled()

bool arms::chassis::settled

(

)

Returns

True if the chassis is settled, false otherwise

Example 1:

//wait until the chassis is settled
while(!chassis::settled()) {
   pros::delay(20);
}

Checks if the chassis is settled.

tank()

void arms::chassis::tank	(	double	left,
		double	right,
		bool	velocity = false
	)

move the chassis using tank drive

Parameters

left	The left side velocity or percentage (0%-100%).
right	The right side velocity or percentage (0%-100%).
velocity	Whether the values are velocities or percentages. Defaults to false for percentage mode.

Example 1:

//move the chassis forward at 100% speed
chassis::tank(100, 100);

Example 2:

//move the chassis forward at 100 rpm
chassis::tank(100, 100, true);

Example 3:

//move the left side of the chassis forward at 100% speed, and the right side backwards at 50% speed
chassis::tank(100, -50);

turn() [1/2]

void arms::chassis::turn	(	double	target,
		double	max,
		double	exit_error,
		double	ap,
		MoveFlags	flags = NONE
	)

turn the chassis a target angle

Perform a turn movement

Parameters

target	The target angle to turn to.
flags	The flags to use when moving the chassis.
max	The maximum speed to move at.
exit_error	The minimum distance from the target point to exit the movement.
ap	The angular kP for the movement.
flags	The flags to use when moving the chassis.

Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

Example 1:

//turn the chassis to face 90 degrees at 100% max speed
chassis::turn(90, 100);

Example 2:

//turn the chassis 180 degrees clockwise at 100% max speed
chassis::turn(-180, 100, arms::RELATIVE);

Example 3:

//turn the chassis to face 90 degrees at 75% max speed with a 2 degree exit error with PID disabled
chassis::turn(90, 75, 2, arms::THRU);

Turns the chassis a target angle. Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

The target parameter is a double that represents the target angle (theta). We use our PID controller to turn to the target angle. More information on this can be seen at MotionControl.
The max parameter can be used to set the maximum speed of the movement. It will default to 100% if not provided.
The exit_error parameter can be used to set the minimum error from the target point to exit the movement. It will default to what is provided in config::h::MIN_ERROR if not provided.
The ap parameter can be used to set the angular kP for the movement. It will default to what is provided in config.h if not provided.
The flags parameter can be used to set the flags for the movement. A list of them and their descriptions can be found in the MoveFlags enum.

turn() [2/2]

void arms::chassis::turn	(	Point	target,
		double	max,
		double	exit_error,
		double	ap,
		MoveFlags	flags = NONE
	)

turn the chassis to face a target point

Parameters

target	The target point to turn to.
flags	The flags to use when moving the chassis.
max	The maximum speed to move at.
exit_error	The minimum distance from the target point to exit the movement.
ap	The angular kP for the movement.
flags	The flags to use when moving the chassis.

Example 1:

//turn the chassis to face the point (24, 24) at 100% speed
chassis::turn({24, 24}, 100);

Example 2:

//turn the chassis to face the point {72, -48} at 75% speed
chassis::turn({72, -48}, 75);

Example 3:

//turn the chassis to face the point (24, 24) at 100% speed with a 2 degree exit error with PID disabled
chassis::turn({24, 24}, 100, 2, arms::THRU);

Turns the chassis a target angle. Almost all parameters are optional. Technically, only the target parameter is required. However, it is recommended to provide the max parameter aswell so that you have control over the maximum speed of the chassis.

The target parameter is a Point that represents the point we want to turn to face. We use our PID controller to turn to the target angle. More information on this can be seen at MotionControl.
The max parameter can be used to set the maximum speed of the movement. It will default to 100% if not provided.
The exit_error parameter can be used to set the minimum error from the target point to exit the movement. It will default to what is provided in config::h::MIN_ERROR if not provided.
The ap parameter can be used to set the angular kP for the movement. It will default to what is provided in config.h if not provided.
The flags parameter can be used to set the flags for the movement. A list of them and their descriptions can be found in the MoveFlags enum.

waitUntilFinished()

void arms::chassis::waitUntilFinished

(

double

exit_error

)

Parameters

exit_error

The minimum error from the target point to exit the wait

Example 1:

//wait for the chassis to finish a movement with a 1 inch error
waitUntilFinished(1);

Waits for the chassis to reach a target point within a certain exit_error. This function should not be required, as chassis::move is already a blocking function by default. However, this may need to be used if the chassis::move function is called with the MoveFlags::async flag.

Variable Documentation

leftMotors

std::shared_ptr< pros::Motor_Group > arms::chassis::leftMotors

extern

This variable is a pointer to a Motor_Group object that contains all of the left motors.

maxSpeed

double arms::chassis::maxSpeed

extern

This variable is used to set the maximum speed of the chassis.

rightMotors

std::shared_ptr< pros::Motor_Group > arms::chassis::rightMotors

extern

This variable is a pointer to a Motor_Group object that contains all of the right motors.