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Add tests for equivilance of RobotDrive and DifferentialDrive/MecanumDrive (#732)

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Add documentation for how to get same results as RobotDrive and improve
RobotDrive documentation
This commit is contained in:
sciencewhiz
2017-11-29 21:41:00 -08:00
committed by Peter Johnson
parent e308dd28f3
commit cbd08a1e11
10 changed files with 484 additions and 21 deletions
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14
wpilibc/src/main/native/include/Drive/DifferentialDrive.h
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@@ -81,6 +81,20 @@ class SpeedController;
* The positive X axis points ahead, the positive Y axis points to the right,
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*
* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
*
* <p>RobotDrive porting guide:
* <br>TankDrive(double, double, bool) is equivalent to
* RobotDrive#TankDrive(double, double, bool) if a deadband of 0 is used.
* <br>ArcadeDrive(double, double, bool) is equivalent to
* RobotDrive#ArcadeDrive(double, double, bool) if a deadband of 0 is used
* and the the rotation input is inverted eg ArcadeDrive(y, -rotation, false)
* <br>CurvatureDrive(double, double, bool) is similar in concept to
* RobotDrive#Drive(double, double) with the addition of a quick turn
* mode. However, it is not designed to give exactly the same response.
*/
class DifferentialDrive : public RobotDriveBase {
public:

17
wpilibc/src/main/native/include/Drive/MecanumDrive.h
View File

@@ -44,6 +44,23 @@ class SpeedController;
* The positive X axis points ahead, the positive Y axis points to the right,
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*
* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
*
* RobotDrive porting guide:
* <br>In MecanumDrive, the right side speed controllers are automatically
* inverted, while in RobotDrive, no speed controllers are automatically
* inverted.
* <br>DriveCartesian(double, double, double, double) is equivalent to
* RobotDrive#MecanumDrive_Cartesian(double, double, double, double)
* if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted
* compared to RobotDrive (eg DriveCartesian(xSpeed, -ySpeed, zRotation,
* -gyroAngle).
* <br>DrivePolar(double, double, double) is equivalent to
* RobotDrive#MecanumDrive_Polar(double, double, double) if a
* deadband of 0 is used.
*/
class MecanumDrive : public RobotDriveBase {
public: