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<div class="headertitle"><div class="title">Drivetrain.cpp</div></div>
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<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*------------------------------------------------------------</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&,</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&%</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> .&&&&/ &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&& /&&&&&&&&&&&*</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> .%&&&( &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&% %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> %&&&# %#&&# (&&&&&&&&&&& %&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> *&&&# (&&&&&&&&&&& / %&&&&&&&&&&&</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">*&% , (&&&&&&&&&&&(&&&&( &&&&&&&&&&&</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">& (,.. (&&&&&&&&&&&&&&&& %&&&&&&&&&&</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> &* (&&&&&&&&&&&&&&&& &&&&&&&&&&&</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> &/ (&&&&&&&&&&&&&&&&% &&&&&&&&&&&(</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> #&& .&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&#**(&&&&&&&&&&&&&#</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> &# (& ......... &&&&&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> /& & .&&&&&&&&&&&&&&&&&&&&&&</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> %&&* &* ,%&&&&&&&&&&&&&%*</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"></span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> Author: Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> Email: esteban37padilla@gmail.com</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> URL: github.com/esteb37</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> github.com/tecdroid-3354</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> Date: 12/04/2022</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> Language: cpp</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> Copyright (c) TecDroid 3354 and Esteban Padilla Cerdio</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> Open Source Software; you can modify and/or share it under the terms of</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">*/</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="preprocessor">#include "subsystems/Drivetrain.h"</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="keyword">using namespace </span>TecDroid;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a991295e39136bae189ff2efc30b27e43"> 31</a></span>Drivetrain::Drivetrain(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> frontRight, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> frontLeft, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> backRight, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> backLeft)</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span>{</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> m_frontRight = <span class="keyword">new</span> CANSparkMax(frontRight, CANSparkMaxLowLevel::MotorType::kBrushless);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> m_frontLeft = <span class="keyword">new</span> CANSparkMax(frontLeft, CANSparkMaxLowLevel::MotorType::kBrushless);</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> m_backRight = <span class="keyword">new</span> CANSparkMax(backRight, CANSparkMaxLowLevel::MotorType::kBrushless);</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> m_backLeft = <span class="keyword">new</span> CANSparkMax(backLeft, CANSparkMaxLowLevel::MotorType::kBrushless);</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> SetName(<span class="stringliteral">"DT"</span>);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>}</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keywordtype">void</span> Drivetrain::Periodic()</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>}</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="comment">// --------------------- Control ----------------------</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517"> 47</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">Drivetrain::Drive</a>(<span class="keywordtype">double</span> speed, <span class="keywordtype">double</span> rotation)</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> m_drive.ArcadeDrive(speed * m_moveDirection * m_maxMoveSpeed, rotation * m_rotationDirection * m_maxTurnSpeed);</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>}</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a102e6dfdd03b5ffc3febdb34de935ec3"> 52</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a102e6dfdd03b5ffc3febdb34de935ec3">Drivetrain::Reset</a>()</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>{</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aa63b09496786d2472f8eb68b5b4a2063">ResetGyro</a>();</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a0b14cd9cb776da62f7589da7618cdeee">ResetEncoders</a>();</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ad6090defa5f627403c482bbeec22a8b6">SetSafetyEnabled</a>(<span class="keyword">true</span>);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span>}</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#afea8ea3454a85faa8457b26eb9bc5292"> 61</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#afea8ea3454a85faa8457b26eb9bc5292">Drivetrain::SetMaxSpeeds</a>(<span class="keywordtype">double</span> speed, <span class="keywordtype">double</span> rotation)</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span>{</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> m_maxMoveSpeed = speed;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> m_maxTurnSpeed = rotation;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>}</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a825964930cf1964eaccfe789df59ea4b"> 67</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a825964930cf1964eaccfe789df59ea4b">Drivetrain::InvertMove</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>{</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> m_moveDirection = invert ? -1 : 1;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span>}</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#af20eee44b87d89348acdaf8def755284"> 72</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#af20eee44b87d89348acdaf8def755284">Drivetrain::InvertRotation</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span>{</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> m_rotationDirection = invert ? -1 : 1;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>}</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ad6090defa5f627403c482bbeec22a8b6"> 77</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ad6090defa5f627403c482bbeec22a8b6">Drivetrain::SetSafetyEnabled</a>(<span class="keywordtype">bool</span> enabled)</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span>{</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> m_drive.SetSafetyEnabled(enabled);</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span>}</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span><span class="comment">// ---------------------- Motors ----------------------</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a632d9e57aff0453021101f3f9264d9b6"> 84</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a632d9e57aff0453021101f3f9264d9b6">Drivetrain::ResetMotors</a>()</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span>{</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> m_frontRight->RestoreFactoryDefaults();</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> m_frontLeft->RestoreFactoryDefaults();</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> m_backRight->RestoreFactoryDefaults();</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> m_backLeft->RestoreFactoryDefaults();</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span>}</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ae3e25ce7bbc97ac1912f703ca36c20e7"> 92</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ae3e25ce7bbc97ac1912f703ca36c20e7">Drivetrain::InvertRight</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span>{</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> m_right.SetInverted(invert);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span>}</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a6248133734bb47d86d3e7d2d46d6c7be"> 97</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a6248133734bb47d86d3e7d2d46d6c7be">Drivetrain::InvertLeft</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span>{</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> m_left.SetInverted(invert);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span>}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a264fc3fd471cb02c39e26e87277ab970"> 102</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a264fc3fd471cb02c39e26e87277ab970">Drivetrain::PrintMotors</a>()</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span>{</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" FR Motor"</span>, m_frontRight->Get());</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" FL Motor"</span>, m_frontLeft->Get());</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" BR Motor"</span>, m_backRight->Get());</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" BL Motor"</span>, m_backLeft->Get());</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span>}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="comment">// --------------------- Encoders ---------------------</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a3115ec088361b83d74a4d95d7b2915e7"> 112</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a3115ec088361b83d74a4d95d7b2915e7">Drivetrain::GetRightEncoders</a>()</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>{</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordflow">return</span> (m_frontRightEncoder.GetPosition() + m_backRightEncoder.GetPosition()) / 2;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span>}</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ac5dcbd091bee9d908aae86f989b83630"> 117</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac5dcbd091bee9d908aae86f989b83630">Drivetrain::GetLeftEncoders</a>()</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>{</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="keywordflow">return</span> (m_frontLeftEncoder.GetPosition() + m_backLeftEncoder.GetPosition()) / 2;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span>}</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a548f0fea9392b195712cfa7403fe44ba"> 122</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a548f0fea9392b195712cfa7403fe44ba">Drivetrain::GetEncoderAverage</a>()</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span>{</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">return</span> (<a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a3115ec088361b83d74a4d95d7b2915e7">GetRightEncoders</a>() + <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac5dcbd091bee9d908aae86f989b83630">GetLeftEncoders</a>()) / 2;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span>}</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a0b14cd9cb776da62f7589da7618cdeee"> 127</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a0b14cd9cb776da62f7589da7618cdeee">Drivetrain::ResetEncoders</a>()</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span>{</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> m_frontRightEncoder.SetPosition(0);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> m_frontLeftEncoder.SetPosition(0);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> m_backRightEncoder.SetPosition(0);</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> m_backLeftEncoder.SetPosition(0);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span>}</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ade6fcfa0f1d33b5a6ab23d4d39c51c58"> 135</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ade6fcfa0f1d33b5a6ab23d4d39c51c58">Drivetrain::InvertRightEncoders</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span>{</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> m_frontRightEncoder.SetInverted(invert);</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> m_backRightEncoder.SetInverted(invert);</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span>}</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a90d349ff54025dec06c273b65cb0ac7b"> 141</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a90d349ff54025dec06c273b65cb0ac7b">Drivetrain::InvertLeftEncoders</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span>{</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> m_frontLeftEncoder.SetInverted(invert);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> m_backLeftEncoder.SetInverted(invert);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span>}</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a7231873edf8c1be04e40f085a04b13aa"> 147</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a7231873edf8c1be04e40f085a04b13aa">Drivetrain::PrintEncoders</a>()</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span>{</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" FR Encoder"</span>, m_frontRightEncoder.GetPosition());</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" FL Encoder"</span>, m_frontLeftEncoder.GetPosition());</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" BR Encoder"</span>, m_backRightEncoder.GetPosition());</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" BL Encoder"</span>, m_backLeftEncoder.GetPosition());</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span>}</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ab561d99adcf547b03bd56b476ec28472"> 155</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ab561d99adcf547b03bd56b476ec28472">Drivetrain::SetPositionConversionFactor</a>(<span class="keywordtype">double</span> pcf)</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span>{</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> m_backRightEncoder.SetPositionConversionFactor(pcf);</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> m_backLeftEncoder.SetPositionConversionFactor(pcf);</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> m_frontRightEncoder.SetPositionConversionFactor(pcf);</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> m_frontLeftEncoder.SetPositionConversionFactor(pcf);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span>}</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span><span class="comment">// ----------------------- Gyro -----------------------</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8"> 164</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8">Drivetrain::GetGyro</a>()</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span>{</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordflow">return</span> m_gyro.GetAngle().value() * m_gyroDirection;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span>}</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a281f925dba295d9d14beb932c67c3192"> 169</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a281f925dba295d9d14beb932c67c3192">Drivetrain::GetGyroRad</a>()</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span>{</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8">GetGyro</a>() * (M_PI / 180);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span>}</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#aa63b09496786d2472f8eb68b5b4a2063"> 174</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aa63b09496786d2472f8eb68b5b4a2063">Drivetrain::ResetGyro</a>()</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span>{</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> m_gyro.Reset();</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span>}</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> </div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#adbbeb7dea4c6b7d1e760fde991ca9c08"> 179</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#adbbeb7dea4c6b7d1e760fde991ca9c08">Drivetrain::InvertGyro</a>(<span class="keywordtype">bool</span> invert)</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span>{</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> m_gyroDirection = invert ? -1 : 1;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span>}</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a5666edd674a1aa863c05d9402fbcce90"> 184</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a5666edd674a1aa863c05d9402fbcce90">Drivetrain::PrintGyro</a>()</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>{</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Gyro"</span>, <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8">GetGyro</a>());</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span>}</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a6715ed0bc5cde62b767b6388d9296c6f"> 189</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a6715ed0bc5cde62b767b6388d9296c6f">Drivetrain::PrintGyroRad</a>()</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>{</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">"Gyro Rad"</span>, <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a281f925dba295d9d14beb932c67c3192">GetGyroRad</a>());</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>}</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span><span class="comment">// ----------------------- Auto -----------------------</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ac50530290af4e91020bf3973310ea6af"> 196</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac50530290af4e91020bf3973310ea6af">Drivetrain::Move</a>(<span class="keywordtype">double</span> distance, <span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>{</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> m_movePIDController.SetSetpoint(distance);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">double</span> output = m_movePIDController.Calculate(<a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a548f0fea9392b195712cfa7403fe44ba">GetEncoderAverage</a>() * m_movePIDDirection);</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> output = clamp(output, -speed, speed);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">Drive</a>(output * speed, 0);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordflow">return</span> m_movePIDController.AtSetpoint();</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span>}</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a935fa4d01b4aff480e32ed9c38259406"> 205</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a935fa4d01b4aff480e32ed9c38259406">Drivetrain::ResetMovePIDController</a>()</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span>{</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> m_movePIDController.Reset();</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>}</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ac1a114078a5f4c6859e14bf13f987785"> 210</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac1a114078a5f4c6859e14bf13f987785">Drivetrain::ConfigureMovePID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span>{</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> m_movePIDController.SetPID(p, i, d);</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> m_movePIDController.SetTolerance(tolerance);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> m_movePIDDirection = inverted ? -1 : 1;</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span>}</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a1283d1154911a913b18a87247159c895"> 216</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a1283d1154911a913b18a87247159c895">Drivetrain::PrintMoveError</a>()</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span>{</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Move Error"</span>, m_movePIDController.GetPositionError());</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span>}</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a30e1914280c2368691008c154af6c90c"> 221</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a30e1914280c2368691008c154af6c90c">Drivetrain::Turn</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>{</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> m_turnPIDController.SetSetpoint(angle);</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">double</span> output = m_turnPIDController.Calculate(<a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8">GetGyro</a>() * m_turnPIDDirection);</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> output = clamp(output, -speed, speed);</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">Drive</a>(0, output * speed);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordflow">return</span> m_turnPIDController.AtSetpoint();</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span>}</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a9f741b8119353fba3dc67b5f0dbfdb89"> 230</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a9f741b8119353fba3dc67b5f0dbfdb89">Drivetrain::ResetTurnPIDController</a>()</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span>{</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> m_turnPIDController.Reset();</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span>}</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a0c24af04b34c9e47908939888ac98d07"> 235</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a0c24af04b34c9e47908939888ac98d07">Drivetrain::ConfigureTurnPID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span>{</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> m_turnPIDController.SetPID(p, i, d);</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> m_turnPIDController.SetTolerance(tolerance);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> m_turnPIDDirection = inverted ? -1 : 1;</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span>}</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#aab40ea3240ab1f0262e6f931015b868c"> 241</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aab40ea3240ab1f0262e6f931015b868c">Drivetrain::PrintTurnError</a>()</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span>{</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Turn Error"</span>, m_turnPIDController.GetPositionError());</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span>}</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> </div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a4a8d358bc5d5ba4b6532eb35e75ea41e"> 246</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a4a8d358bc5d5ba4b6532eb35e75ea41e">Drivetrain::MoveTo</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> speed, <span class="keywordtype">double</span> turnSpeed)</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span>{</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">double</span> targetX = x - m_currentX;</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">double</span> targetY = y - m_currentY;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">double</span> angle = <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a6a6102b66ad56463d21c05a340861cfd">GetAbsoluteAngle</a>(targetX, targetY);</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a30e1914280c2368691008c154af6c90c">Turn</a>(angle, turnSpeed))</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> {</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">double</span> distance = sqrt(pow(targetX, 2) + pow(targetY, 2));</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac50530290af4e91020bf3973310ea6af">Move</a>(distance, speed))</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> {</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a0b14cd9cb776da62f7589da7618cdeee">ResetEncoders</a>();</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> m_currentX = x;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> m_currentY = y;</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> }</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> }</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span>}</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> </div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a8acfe7793cb899720272f2438d8d7dbc"> 271</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a8acfe7793cb899720272f2438d8d7dbc">Drivetrain::PrintMoveToError</a>()</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span>{</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a1283d1154911a913b18a87247159c895">PrintMoveError</a>();</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aab40ea3240ab1f0262e6f931015b868c">PrintTurnError</a>();</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span>}</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> </div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ab4ea4fff1c362668bfb049eba0461192"> 277</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ab4ea4fff1c362668bfb049eba0461192">Drivetrain::PrintCurrentPosition</a>()</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span>{</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Current X"</span>, m_currentX);</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Current Y"</span>, m_currentY);</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span>}</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#aace237adc60b9d6a5c046931197ccc54"> 283</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aace237adc60b9d6a5c046931197ccc54">Drivetrain::SetAngleWithTarget</a>(<span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span>{</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> m_alignPIDController.SetSetpoint(angle);</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keywordtype">double</span> output = m_alignPIDController.Calculate(m_limelight.GetHorizontalAngle() * m_alignPIDDirection);</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> output = clamp(output, -speed, speed);</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">Drive</a>(0, output * speed);</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keywordflow">return</span> m_alignPIDController.AtSetpoint();</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span>}</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#aa5a3ae0a443fb9c8eb1b7201da399358"> 292</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aa5a3ae0a443fb9c8eb1b7201da399358">Drivetrain::AlignWithTarget</a>(<span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span>{</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keywordflow">return</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#aace237adc60b9d6a5c046931197ccc54">SetAngleWithTarget</a>(0, speed);</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span>}</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ac43993f933714c5be50441b911431fab"> 297</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac43993f933714c5be50441b911431fab">Drivetrain::ResetAlignPIDController</a>()</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span>{</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> m_alignPIDController.Reset();</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span>}</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> </div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#ad16170d789b6472d8f9a811082ad8095"> 302</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ad16170d789b6472d8f9a811082ad8095">Drivetrain::ConfigureAlignPID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>{</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> m_alignPIDController.SetPID(p, i, d);</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> m_alignPIDController.SetTolerance(tolerance);</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> m_alignPIDDirection = inverted ? -1 : 1;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span>}</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a12b1b678aa454cc67d3494601c6347e7"> 309</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a12b1b678aa454cc67d3494601c6347e7">Drivetrain::PrintAlignError</a>()</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span>{</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Align Error"</span>, m_alignPIDController.GetPositionError());</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span>}</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a4b4a900f38437b36e6ba6ef10dac44f3"> 314</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a4b4a900f38437b36e6ba6ef10dac44f3">Drivetrain::SetDistanceWithTarget</a>(<span class="keywordtype">double</span> distance, <span class="keywordtype">double</span> speed)</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span>{</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> m_distancePIDController.SetSetpoint(distance);</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">double</span> output = m_distancePIDController.Calculate(m_limelight.GetDistanceToTarget() * m_distancePIDDirection);</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> output = clamp(output, -speed, speed);</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">Drive</a>(output * speed, 0);</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordflow">return</span> m_distancePIDController.AtSetpoint();</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span>}</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a05d3f2ef24b01a62208b124a946c8cd6"> 323</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a05d3f2ef24b01a62208b124a946c8cd6">Drivetrain::ResetDistancePIDController</a>()</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span>{</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> m_distancePIDController.Reset();</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span>}</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a364242ac2a493a6b53af34f55050d7f9"> 328</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a364242ac2a493a6b53af34f55050d7f9">Drivetrain::ConfigureDistancePID</a>(<span class="keywordtype">double</span> p, <span class="keywordtype">double</span> i, <span class="keywordtype">double</span> d, <span class="keywordtype">double</span> tolerance, <span class="keywordtype">bool</span> inverted)</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span>{</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> m_distancePIDController.SetPID(p, i, d);</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> m_distancePIDController.SetTolerance(tolerance);</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> m_distancePIDDirection = inverted ? -1 : 1;</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span>}</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> </div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#adee58e9d133a795610ae569f7546c365"> 335</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#adee58e9d133a795610ae569f7546c365">Drivetrain::PrintSetDistanceError</a>()</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span>{</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> SmartDashboard::PutNumber(GetName() + <span class="stringliteral">" Set Distance Error"</span>, m_distancePIDController.GetPositionError());</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span>}</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> </div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a1f7843b5a8518c82b6671d72bceefe28"> 340</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a1f7843b5a8518c82b6671d72bceefe28">Drivetrain::ResetPIDControllers</a>()</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span>{</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a935fa4d01b4aff480e32ed9c38259406">ResetMovePIDController</a>();</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a9f741b8119353fba3dc67b5f0dbfdb89">ResetTurnPIDController</a>();</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#ac43993f933714c5be50441b911431fab">ResetAlignPIDController</a>();</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a05d3f2ef24b01a62208b124a946c8cd6">ResetDistancePIDController</a>();</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span>}</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> </div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"><a class="line" href="class_tec_droid_1_1_drivetrain.html#a6a6102b66ad56463d21c05a340861cfd"> 348</a></span><span class="keywordtype">double</span> <a class="code hl_function" href="class_tec_droid_1_1_drivetrain.html#a6a6102b66ad56463d21c05a340861cfd">Drivetrain::GetAbsoluteAngle</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y)</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span>{</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">float</span> relAngle = atan(y / (x == 0 ? 0.01 : x));</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> </div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keywordflow">if</span> (x < 0)</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> relAngle += M_PI;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> </div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (y < 0)</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> relAngle += 2 * M_PI;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keywordflow">return</span> (relAngle)*180 / M_PI;</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span>}</div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a05d3f2ef24b01a62208b124a946c8cd6"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a05d3f2ef24b01a62208b124a946c8cd6">TecDroid::Drivetrain::ResetDistancePIDController</a></div><div class="ttdeci">void ResetDistancePIDController()</div><div class="ttdoc">Resets the Distance to target PID.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00323">Drivetrain.cpp:323</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a0b14cd9cb776da62f7589da7618cdeee"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a0b14cd9cb776da62f7589da7618cdeee">TecDroid::Drivetrain::ResetEncoders</a></div><div class="ttdeci">void ResetEncoders()</div><div class="ttdoc">Resets the encoders to 0.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00127">Drivetrain.cpp:127</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a0c24af04b34c9e47908939888ac98d07"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a0c24af04b34c9e47908939888ac98d07">TecDroid::Drivetrain::ConfigureTurnPID</a></div><div class="ttdeci">void ConfigureTurnPID(double, double, double, double, bool=false)</div><div class="ttdoc">Configures turn auto PID values and tolerance.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00235">Drivetrain.cpp:235</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a102e6dfdd03b5ffc3febdb34de935ec3"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a102e6dfdd03b5ffc3febdb34de935ec3">TecDroid::Drivetrain::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdoc">Reset all systems.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00052">Drivetrain.cpp:52</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a1283d1154911a913b18a87247159c895"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a1283d1154911a913b18a87247159c895">TecDroid::Drivetrain::PrintMoveError</a></div><div class="ttdeci">void PrintMoveError()</div><div class="ttdoc">Prints the move PID error to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00216">Drivetrain.cpp:216</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a12b1b678aa454cc67d3494601c6347e7"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a12b1b678aa454cc67d3494601c6347e7">TecDroid::Drivetrain::PrintAlignError</a></div><div class="ttdeci">void PrintAlignError()</div><div class="ttdoc">Prints the align PID error to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00309">Drivetrain.cpp:309</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a1f7843b5a8518c82b6671d72bceefe28"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a1f7843b5a8518c82b6671d72bceefe28">TecDroid::Drivetrain::ResetPIDControllers</a></div><div class="ttdeci">void ResetPIDControllers()</div><div class="ttdoc">Resets all PID controllers.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00340">Drivetrain.cpp:340</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a264fc3fd471cb02c39e26e87277ab970"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a264fc3fd471cb02c39e26e87277ab970">TecDroid::Drivetrain::PrintMotors</a></div><div class="ttdeci">void PrintMotors()</div><div class="ttdoc">Publishes all motors to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00102">Drivetrain.cpp:102</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a281f925dba295d9d14beb932c67c3192"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a281f925dba295d9d14beb932c67c3192">TecDroid::Drivetrain::GetGyroRad</a></div><div class="ttdeci">double GetGyroRad()</div><div class="ttdoc">Get the gyro angle in radians.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00169">Drivetrain.cpp:169</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a2a8e83c0d0800f32573d05b7d0017517"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a2a8e83c0d0800f32573d05b7d0017517">TecDroid::Drivetrain::Drive</a></div><div class="ttdeci">void Drive(double, double)</div><div class="ttdoc">Use drivetrain ArcadeDrive to move the chasis.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00047">Drivetrain.cpp:47</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a30e1914280c2368691008c154af6c90c"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a30e1914280c2368691008c154af6c90c">TecDroid::Drivetrain::Turn</a></div><div class="ttdeci">bool Turn(double, double)</div><div class="ttdoc">Turns the drievtrain to a given angle.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00221">Drivetrain.cpp:221</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a3115ec088361b83d74a4d95d7b2915e7"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a3115ec088361b83d74a4d95d7b2915e7">TecDroid::Drivetrain::GetRightEncoders</a></div><div class="ttdeci">double GetRightEncoders()</div><div class="ttdoc">Gets the average of the right encoders.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00112">Drivetrain.cpp:112</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a364242ac2a493a6b53af34f55050d7f9"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a364242ac2a493a6b53af34f55050d7f9">TecDroid::Drivetrain::ConfigureDistancePID</a></div><div class="ttdeci">void ConfigureDistancePID(double, double, double, double, bool=false)</div><div class="ttdoc">Configures distance PID values and tolerance.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00328">Drivetrain.cpp:328</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a4a8d358bc5d5ba4b6532eb35e75ea41e"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a4a8d358bc5d5ba4b6532eb35e75ea41e">TecDroid::Drivetrain::MoveTo</a></div><div class="ttdeci">bool MoveTo(double, double, double, double)</div><div class="ttdoc">Moves the drivetrain to a given coordinate in meters.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00246">Drivetrain.cpp:246</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a4b4a900f38437b36e6ba6ef10dac44f3"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a4b4a900f38437b36e6ba6ef10dac44f3">TecDroid::Drivetrain::SetDistanceWithTarget</a></div><div class="ttdeci">bool SetDistanceWithTarget(double, double)</div><div class="ttdoc">Set drivetrain to a specific distance from the target.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00314">Drivetrain.cpp:314</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a548f0fea9392b195712cfa7403fe44ba"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a548f0fea9392b195712cfa7403fe44ba">TecDroid::Drivetrain::GetEncoderAverage</a></div><div class="ttdeci">double GetEncoderAverage()</div><div class="ttdoc">Gets the average of the all encoders.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00122">Drivetrain.cpp:122</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a5666edd674a1aa863c05d9402fbcce90"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a5666edd674a1aa863c05d9402fbcce90">TecDroid::Drivetrain::PrintGyro</a></div><div class="ttdeci">void PrintGyro()</div><div class="ttdoc">Publish the value of the gyro to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00184">Drivetrain.cpp:184</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a6248133734bb47d86d3e7d2d46d6c7be"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a6248133734bb47d86d3e7d2d46d6c7be">TecDroid::Drivetrain::InvertLeft</a></div><div class="ttdeci">void InvertLeft(bool)</div><div class="ttdoc">Invert direction of the left motor group.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00097">Drivetrain.cpp:97</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a632d9e57aff0453021101f3f9264d9b6"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a632d9e57aff0453021101f3f9264d9b6">TecDroid::Drivetrain::ResetMotors</a></div><div class="ttdeci">void ResetMotors()</div><div class="ttdoc">Resets motor factory default.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00084">Drivetrain.cpp:84</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a6715ed0bc5cde62b767b6388d9296c6f"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a6715ed0bc5cde62b767b6388d9296c6f">TecDroid::Drivetrain::PrintGyroRad</a></div><div class="ttdeci">void PrintGyroRad()</div><div class="ttdoc">Publish the angle in radians to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00189">Drivetrain.cpp:189</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a6a6102b66ad56463d21c05a340861cfd"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a6a6102b66ad56463d21c05a340861cfd">TecDroid::Drivetrain::GetAbsoluteAngle</a></div><div class="ttdeci">double GetAbsoluteAngle(double, double)</div><div class="ttdoc">Get the absolute angle from a coordinate independent of quadrant.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00348">Drivetrain.cpp:348</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a7231873edf8c1be04e40f085a04b13aa"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a7231873edf8c1be04e40f085a04b13aa">TecDroid::Drivetrain::PrintEncoders</a></div><div class="ttdeci">void PrintEncoders()</div><div class="ttdoc">Publish the value of the encoders to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00147">Drivetrain.cpp:147</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a825964930cf1964eaccfe789df59ea4b"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a825964930cf1964eaccfe789df59ea4b">TecDroid::Drivetrain::InvertMove</a></div><div class="ttdeci">void InvertMove(bool)</div><div class="ttdoc">Invert the direction of movement.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00067">Drivetrain.cpp:67</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a8acfe7793cb899720272f2438d8d7dbc"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a8acfe7793cb899720272f2438d8d7dbc">TecDroid::Drivetrain::PrintMoveToError</a></div><div class="ttdeci">void PrintMoveToError()</div><div class="ttdoc">Prints the move to PID error to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00271">Drivetrain.cpp:271</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a90d349ff54025dec06c273b65cb0ac7b"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a90d349ff54025dec06c273b65cb0ac7b">TecDroid::Drivetrain::InvertLeftEncoders</a></div><div class="ttdeci">void InvertLeftEncoders(bool)</div><div class="ttdoc">Invert the direction of the left encoders.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00141">Drivetrain.cpp:141</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a935fa4d01b4aff480e32ed9c38259406"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a935fa4d01b4aff480e32ed9c38259406">TecDroid::Drivetrain::ResetMovePIDController</a></div><div class="ttdeci">void ResetMovePIDController()</div><div class="ttdoc">Resets the Move PID.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00205">Drivetrain.cpp:205</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_a9f741b8119353fba3dc67b5f0dbfdb89"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#a9f741b8119353fba3dc67b5f0dbfdb89">TecDroid::Drivetrain::ResetTurnPIDController</a></div><div class="ttdeci">void ResetTurnPIDController()</div><div class="ttdoc">Resets the Turn PID.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00230">Drivetrain.cpp:230</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_aa5a3ae0a443fb9c8eb1b7201da399358"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#aa5a3ae0a443fb9c8eb1b7201da399358">TecDroid::Drivetrain::AlignWithTarget</a></div><div class="ttdeci">bool AlignWithTarget(double)</div><div class="ttdoc">Align chasis to target.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00292">Drivetrain.cpp:292</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_aa63b09496786d2472f8eb68b5b4a2063"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#aa63b09496786d2472f8eb68b5b4a2063">TecDroid::Drivetrain::ResetGyro</a></div><div class="ttdeci">void ResetGyro()</div><div class="ttdoc">Resets the angle to 0.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00174">Drivetrain.cpp:174</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_aab40ea3240ab1f0262e6f931015b868c"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#aab40ea3240ab1f0262e6f931015b868c">TecDroid::Drivetrain::PrintTurnError</a></div><div class="ttdeci">void PrintTurnError()</div><div class="ttdoc">Prints the turn PID error to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00241">Drivetrain.cpp:241</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_aace237adc60b9d6a5c046931197ccc54"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#aace237adc60b9d6a5c046931197ccc54">TecDroid::Drivetrain::SetAngleWithTarget</a></div><div class="ttdeci">bool SetAngleWithTarget(double, double)</div><div class="ttdoc">Set drivetrain to a specific angle from the target.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00283">Drivetrain.cpp:283</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ab4ea4fff1c362668bfb049eba0461192"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ab4ea4fff1c362668bfb049eba0461192">TecDroid::Drivetrain::PrintCurrentPosition</a></div><div class="ttdeci">void PrintCurrentPosition()</div><div class="ttdoc">Prints the current coordinates to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00277">Drivetrain.cpp:277</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ab561d99adcf547b03bd56b476ec28472"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ab561d99adcf547b03bd56b476ec28472">TecDroid::Drivetrain::SetPositionConversionFactor</a></div><div class="ttdeci">void SetPositionConversionFactor(double)</div><div class="ttdoc">Sets the encoders' distance per revolution.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00155">Drivetrain.cpp:155</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ac1a114078a5f4c6859e14bf13f987785"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ac1a114078a5f4c6859e14bf13f987785">TecDroid::Drivetrain::ConfigureMovePID</a></div><div class="ttdeci">void ConfigureMovePID(double, double, double, double, bool=false)</div><div class="ttdoc">Configures move auto PID values and tolerance.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00210">Drivetrain.cpp:210</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ac43993f933714c5be50441b911431fab"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ac43993f933714c5be50441b911431fab">TecDroid::Drivetrain::ResetAlignPIDController</a></div><div class="ttdeci">void ResetAlignPIDController()</div><div class="ttdoc">Resets the Align with target PID.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00297">Drivetrain.cpp:297</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ac50530290af4e91020bf3973310ea6af"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ac50530290af4e91020bf3973310ea6af">TecDroid::Drivetrain::Move</a></div><div class="ttdeci">bool Move(double, double)</div><div class="ttdoc">Sets the drivetrain to a given heading.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00196">Drivetrain.cpp:196</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ac5dcbd091bee9d908aae86f989b83630"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ac5dcbd091bee9d908aae86f989b83630">TecDroid::Drivetrain::GetLeftEncoders</a></div><div class="ttdeci">double GetLeftEncoders()</div><div class="ttdoc">Gets the average of the left encoders.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00117">Drivetrain.cpp:117</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ad16170d789b6472d8f9a811082ad8095"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ad16170d789b6472d8f9a811082ad8095">TecDroid::Drivetrain::ConfigureAlignPID</a></div><div class="ttdeci">void ConfigureAlignPID(double, double, double, double, bool=false)</div><div class="ttdoc">Configures align PID values, tolerance and direction.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00302">Drivetrain.cpp:302</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ad6090defa5f627403c482bbeec22a8b6"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ad6090defa5f627403c482bbeec22a8b6">TecDroid::Drivetrain::SetSafetyEnabled</a></div><div class="ttdeci">void SetSafetyEnabled(bool)</div><div class="ttdoc">Enable drivetrain safety.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00077">Drivetrain.cpp:77</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_adbbeb7dea4c6b7d1e760fde991ca9c08"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#adbbeb7dea4c6b7d1e760fde991ca9c08">TecDroid::Drivetrain::InvertGyro</a></div><div class="ttdeci">void InvertGyro(bool)</div><div class="ttdoc">Invert the direction of the gyro.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00179">Drivetrain.cpp:179</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ade6fcfa0f1d33b5a6ab23d4d39c51c58"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ade6fcfa0f1d33b5a6ab23d4d39c51c58">TecDroid::Drivetrain::InvertRightEncoders</a></div><div class="ttdeci">void InvertRightEncoders(bool)</div><div class="ttdoc">Invert the direction of the right encoders.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00135">Drivetrain.cpp:135</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_adee58e9d133a795610ae569f7546c365"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#adee58e9d133a795610ae569f7546c365">TecDroid::Drivetrain::PrintSetDistanceError</a></div><div class="ttdeci">void PrintSetDistanceError()</div><div class="ttdoc">Prints the distance PID error to the dashboard.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00335">Drivetrain.cpp:335</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_ae3e25ce7bbc97ac1912f703ca36c20e7"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#ae3e25ce7bbc97ac1912f703ca36c20e7">TecDroid::Drivetrain::InvertRight</a></div><div class="ttdeci">void InvertRight(bool)</div><div class="ttdoc">Invert direction of the right motor group.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00092">Drivetrain.cpp:92</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_aeb0ad112fc2e33313134a352bd79ccc8"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#aeb0ad112fc2e33313134a352bd79ccc8">TecDroid::Drivetrain::GetGyro</a></div><div class="ttdeci">double GetGyro()</div><div class="ttdoc">Gets the current angle of the gyro in degrees.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00164">Drivetrain.cpp:164</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_af20eee44b87d89348acdaf8def755284"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#af20eee44b87d89348acdaf8def755284">TecDroid::Drivetrain::InvertRotation</a></div><div class="ttdeci">void InvertRotation(bool)</div><div class="ttdoc">Invert the direction of rotation.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00072">Drivetrain.cpp:72</a></div></div>
<div class="ttc" id="aclass_tec_droid_1_1_drivetrain_html_afea8ea3454a85faa8457b26eb9bc5292"><div class="ttname"><a href="class_tec_droid_1_1_drivetrain.html#afea8ea3454a85faa8457b26eb9bc5292">TecDroid::Drivetrain::SetMaxSpeeds</a></div><div class="ttdeci">void SetMaxSpeeds(double, double)</div><div class="ttdoc">Set maximum move and turn speed.</div><div class="ttdef"><b>Definition:</b> <a href="_drivetrain_8cpp_source.html#l00061">Drivetrain.cpp:61</a></div></div>
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