API

API Reference

• Hardware
  • Chassis
    • Chassis::initialize()
    • Chassis::move()
    • Chassis::move_voltage()
    • Chassis::turn()
    • Chassis::turn_voltage()
    • Chassis::arcade()
    • Chassis::brake()
    • Chassis::revolutions_to_displacement()
    • Chassis::rpm_to_velocity()
    • Chassis::left_motors_displacement()
    • Chassis::right_motors_displacement()
    • Chassis::forward_motor_displacement()
    • Chassis::left_motors_velocity()
    • Chassis::right_motors_velocity()
    • Chassis::forward_motor_velocity()
  • MotorGroup
    • MotorGroup::move()
    • MotorGroup::move_voltage()
    • MotorGroup::get_position()
    • MotorGroup::get_velocity()
  • Motor
    • Motor::get_position()
    • Motor::get_velocity()
  • Imu
    • Imu::initialize()
    • Imu::get_rotation()
    • Imu::get_heading()
  • Rotation
    • Rotation::initialize()
    • Rotation::get_position()
    • Rotation::get_velocity()
    • Rotation::get_linear_displacement()
    • Rotation::get_linear_velocity()
  • Timer
    • Timer::reset()
    • Timer::get_start_time()
    • Timer::get_current_time()
    • Timer::get_elapsed_time()
• Control
  • Pid
    • Pid::reset()
    • Pid::update()
    • Pid::get_gains()
    • Pid::set_gains()
    • Pid::get_error()
    • Pid::get_derivative()
    • Pid::get_p()
    • Pid::get_i()
    • Pid::get_d()
  • PidGains
    • PidGains::kp
    • PidGains::ki
    • PidGains::kd
  • Feedforward
    • Feedforward::calculate()
    • Feedforward::get_gains()
    • Feedforward::set_gains()
  • FeedforwardGains
    • FeedforwardGains::ks
    • FeedforwardGains::kv
    • FeedforwardGains::ka
  • ErrorTimeSettler
    • ErrorTimeSettler::is_settled()
    • ErrorTimeSettler::reset()
  • ErrorDerivativeSettler
    • ErrorDerivativeSettler::is_settled()
    • ErrorDerivativeSettler::reset()
• Kinematics
  • Vector2d
    • Vector2d::x
    • Vector2d::y
  • Pose2d
    • Pose2d::x
    • Pose2d::y
    • Pose2d::theta
  • Odometry
    • Odometry::update()
    • Odometry::get_position()
    • Odometry::set_position()
    • Odometry::displacement_to()
    • Odometry::angle_to()
• Trajectories
  • ProfileSetpoint
    • ProfileSetpoint::direct()
  • TrapezoidProfileStage
    • TrapezoidProfileStage::Accelerating
    • TrapezoidProfileStage::Coasting
    • TrapezoidProfileStage::Decelerating
    • TrapezoidProfileStage::Done
  • TrapezoidProfile
    • TrapezoidProfile::stage()
    • TrapezoidProfile::calculate()
    • TrapezoidProfile::from_constraints()
• Utilities
  • linear_error()
  • sanitize_angle()
  • angular_error()
  • relative_target()
  • gearset_rpm()