WheelController(Chassis* chassis, RamseteController* defaultRamsete, PurePursuitController* defaultPurePursuit, PidController* defaultPid, std::function<PVector(PVector)> reversePosition, std::function<double(double)> reverseAngle, PID turnCtrl, double pathKConstant = 1)

The constructor for the WheelController class. It takes in a chassis, default controllers, auton reversing functions, a turn controller, and a k constant for the path object.

Parameters

• chassis - The chassis that the wheel controller will control
• defaultRamsete - The default ramsete controller for path following
• defaultPurePursuit - The default pure pursuit controller for path following
• defaultPid - The default pid controller for path following
• reversePosition - The function that reverses the position of path points for auton
• reverseAngle - The function that reverses the heading of the robot for the auton
• turnCtrl - The pid controller used for turning
• pathKConstant - The k constant for the path object

Example

PVector reversePosition(PVector pos) {
    //This function will reverse the position of the path points for spin up
    return PVector(-pos.x, -pos.y);
}
double reverseAngle(double angle) {
    //This function will reverse the heading of the robot for spin up
    return angle + 180;
    //The function for turning point would look like:
    //return -angle;
}
WheelController wc = WheelController(&chassis, &defaultRamsete, &defaultPurePursuit, &defaultPid, reversePosition, reverseAngle, turnCtrl);