lemlib::TrackingWheel Class Reference

Public Member Functions
	TrackingWheel (pros::ADIEncoder *encoder, float diameter, float distance, float gearRatio=1)
	Create a new tracking wheel. More...
	TrackingWheel (pros::Rotation *encoder, float diameter, float distance, float gearRatio=1)
	Create a new tracking wheel. More...
	TrackingWheel (pros::Motor_Group *motors, float diameter, float distance, float rpm)
	Create a new tracking wheel. More...
void	reset ()
	Reset the tracking wheel position to 0. More...
float	getDistanceTraveled ()
	Get the distance traveled by the tracking wheel. More...
float	getOffset ()
	Get the offset of the tracking wheel from the center of rotation. More...
int	getType ()
	Get the type of tracking wheel. More...

Constructor & Destructor Documentation

TrackingWheel() [1/3]

lemlib::TrackingWheel::TrackingWheel	(	pros::ADIEncoder *	encoder,
		float	diameter,
		float	distance,
		float	gearRatio = 1
	)

Create a new tracking wheel.

Parameters

encoder	the optical shaft encoder to use
diameter	diameter of the tracking wheel in inches
distance	distance between the tracking wheel and the center of rotation in inches
gearRatio	gear ratio of the tracking wheel, defaults to 1

TrackingWheel() [2/3]

lemlib::TrackingWheel::TrackingWheel	(	pros::Rotation *	encoder,
		float	diameter,
		float	distance,
		float	gearRatio = 1
	)

Create a new tracking wheel.

Parameters

encoder	the v5 rotation sensor to use
diameter	diameter of the tracking wheel in inches
distance	distance between the tracking wheel and the center of rotation in inches
gearRatio	gear ratio of the tracking wheel, defaults to 1

TrackingWheel() [3/3]

lemlib::TrackingWheel::TrackingWheel	(	pros::Motor_Group *	motors,
		float	diameter,
		float	distance,
		float	rpm
	)

Create a new tracking wheel.

Parameters

motors	the motor group to use
diameter	diameter of the drivetrain wheels in inches
distance	half the track width of the drivetrain in inches
rpm	theoretical maximum rpm of the drivetrain wheels

Member Function Documentation

getDistanceTraveled()

float lemlib::TrackingWheel::getDistanceTraveled

(

)

Get the distance traveled by the tracking wheel.

Returns

float distance traveled in inches

getOffset()

float lemlib::TrackingWheel::getOffset

(

)

Get the offset of the tracking wheel from the center of rotation.

Returns

float offset in inches

getType()

int lemlib::TrackingWheel::getType

(

)

Get the type of tracking wheel.

Returns

int - 1 if motor group, 0 otherwise

reset()

void lemlib::TrackingWheel::reset

(

)

Reset the tracking wheel position to 0.

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The documentation for this class was generated from the following file:

• include/lemlib/chassis/trackingWheel.hpp