Package ca.team3161.lib.robot.motion.drivetrains

Class TankDrivetrain

java.lang.Object

ca.team3161.lib.robot.subsystem.AbstractSubsystem

ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase

ca.team3161.lib.robot.motion.drivetrains.TankDrivetrain

All Implemented Interfaces:

LifecycleListener, Subsystem, ComposedComponent<SpeedControllerGroup>

public class TankDrivetrain
extends AbstractDrivetrainBase
implements ComposedComponent<SpeedControllerGroup>

A prepackaged tankdrive solution, suitable for standard 4, 6, or even 8-wheeled tank drive variants. Various types and numbers of speed controllers can be used by providing different customized SpeedControllers. See SpeedControllerGroup, VelocityController.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TankDrivetrain.Builder	A Builder for tank drivetrains.

Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

AbstractSubsystem.RunTask

Field Summary

Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

job, resourceLocks, THREAD_PRIORITY

Method Summary

Modifier and Type	Method	Description
void	defineResources()	Define the set of resourceLocks required for this Subsystem's task.
java.util.Collection<SpeedControllerGroup>	getComposedComponents()	Get the composed components within this one.
void	setLeftTarget(double leftTarget)	Set the "left target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward on the left side of the drivetrain, -1.0 representing full speed backward on the left side of the drivetrain, and 0 representing no movement on the left side of the drivetrain.
void	setRightTarget(double rightTarget)	Set the "right target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward on the right side of the drivetrain, -1.0 representing full speed backward on the right side of the drivetrain, and 0 representing no movement on the right side of the drivetrain.
void	stop()	Stop all movement by setting all motor target values to 0 and disabling them.
void	task()	The background task to run.

Methods inherited from class ca.team3161.lib.robot.motion.drivetrains.AbstractDrivetrainBase

onLifecycleChange

Methods inherited from class ca.team3161.lib.robot.subsystem.RepeatingPooledSubsystem

isDone, start

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractPooledSubsystem

getExecutorService

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem

acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

defineResources

public void defineResources()

Define the set of resourceLocks required for this Subsystem's task.

Specified by:

defineResources in interface Subsystem

See Also:

AbstractSubsystem.require(Object)

setLeftTarget

public void setLeftTarget(double leftTarget)

Set the "left target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward on the left side of the drivetrain, -1.0 representing full speed backward on the left side of the drivetrain, and 0 representing no movement on the left side of the drivetrain.

Parameters:

leftTarget - the left target

setRightTarget

public void setRightTarget(double rightTarget)

Set the "right target", which is a value in the range [-1.0, 1.0]; 1.0 representing full speed forward on the right side of the drivetrain, -1.0 representing full speed backward on the right side of the drivetrain, and 0 representing no movement on the right side of the drivetrain.

Parameters:

rightTarget - the left target

stop

public void stop()

Stop all movement by setting all motor target values to 0 and disabling them.

Specified by:

stop in class AbstractDrivetrainBase

task

public void task()
          throws java.lang.Exception

The background task to run.

Specified by:

task in interface Subsystem

Throws:

java.lang.Exception - in case the defined task throws any Exceptions

getComposedComponents

public java.util.Collection<SpeedControllerGroup> getComposedComponents()

Get the composed components within this one.

Specified by:

getComposedComponents in interface ComposedComponent<SpeedControllerGroup>

Returns:

the composed components.