Welcome to Quadrangles 2016 source code’s documentation!

Contents:

Drivetrain

The drivetrain subsytem controls the six motors which drive the robot’s tank drive.

Methods

TankDrive

Drives the drive train. Also automatically updates the SmartDashboard with the power levels the drive train is set to.

Arguments:

float leftAxis
The power level to set the left set of motors to.
float rightAxis
The power level to set the right set of motors to.

PowerDistOutput

Returns the current draw on LEFT_MOTOR_FOLLOWER according to the PDP board.

Arguments: null

Returns: Current draw on LEFT_MOTOR_FOLLOWER, as an int.

PowerSide

Gets the total current draw on a given side of the drive train.

Arguments:

int value
An int, preferably 0 or 1, the specifies which side to get the current draw of.

Returns:

The current on the side specified by the value argument.
  • If value is 0, the current draw of the left side is returned.
  • If value is 1, the current draw of the right side is returned.
  • For any other value, 0 is returned.

Variables

LeftTalonMaster
  • Type: CANTalon
  • Private: Yes

Notes: This is the master talon on the left side of the drive train. Driving it will (read: should) make the other ones follow it automatically.

LeftTalonFollower
  • Type: CANTalon
  • Master: LeftTalonMaster
  • Private: Yes

Notes: This talon should automatically follow LeftTalonMaster.

LeftTalonFollower_2
  • Type: CANTalon
  • Master: LeftTalonMaster
  • Private: Yes

Notes: See LeftTalonFollower

RightTalonMaster
  • Type: CANTalon
  • Private: Yes

Notes: This is the master talon on the right side of the drive train. Driving it will (read: should) make the other ones follow it automatically.

RightTalonFollower
  • Type: CANTalon
  • Master: RightTalonMaster
  • Private: Yes

Notes: This talon should automatically follow RightTalonMaster.

pdp

The power distribution panel.

  • Private: Yes

Rollers

The rollers subsystem controls the roller on the front of the robot, along with the arm it’s attached to.

Methods

Roll

Roll the roller.

Arguments:

bool forward
Whether to roll forward or not.
double _speed
The speed to roll at.

Returns: Void method

Variables

talon_rollers_lift_left

Controls the roller lift.

  • Type: CANTalon
  • Private: Yes

Contributing

All documentation changes must be done on the branch feature/documentation, under penalty of commit reversion.

Previewing your changes

You should do this before you commit.
  1. cd docs
  2. OS-Dependent:
  • On Windows: .\make html
  • On Linux: make html
  1. Open _build/html/filename.html in your browser of choice. (If that’s IE, rethink your life choices.)

Creating Subsystem docs

  1. Copy _templates/subsystem.rst into docs/name_of_sub_system.rst
  2. Fill out the file
  3. Add, commit, and push. Read The Docs should automatically build the new HTML pages for you.

Indices and tables