ThreeWirePort Forward Declaration

Programming Support VEXcode Pro V5 Text Tech Support
#1

I’m having an issue with declaring the ThreeWirePort object to create threewire objects outside robot-config.cpp and robot-config.h.

My goal is for the client to be able to pass the relevant port number for a tracking wheel as an integer in the “Drive” constructor.

This is the Drive constructor as I would want it to look:

Drive::Drive(enum::drive_setup drive_setup, motor_group DriveL, motor_group DriveR, int gyro_port, float wheel_diameter, float wheel_ratio, float gyro_scale, int DriveLF_port, int DriveRF_port, int DriveLB_port, int DriveRB_port, int ForwardTracker_port, float ForwardTracker_diameter, float ForwardTracker_center_distance, int SidewaysTracker_port, float SidewaysTracker_diameter, float SidewaysTracker_center_distance) :
  wheel_diameter(wheel_diameter),
  wheel_ratio(wheel_ratio),
  gyro_scale(gyro_scale),
  drive_in_to_deg_ratio(wheel_ratio/360.0*M_PI*wheel_diameter),
  ForwardTracker_center_distance(ForwardTracker_center_distance),
  ForwardTracker_diameter(ForwardTracker_diameter),
  ForwardTracker_in_to_deg_ratio(M_PI*ForwardTracker_diameter/360.0),
  SidewaysTracker_center_distance(SidewaysTracker_center_distance),
  SidewaysTracker_diameter(SidewaysTracker_diameter),
  SidewaysTracker_in_to_deg_ratio(M_PI*SidewaysTracker_diameter/360.0),
  drive_setup(drive_setup),
  DriveL(DriveL),
  DriveR(DriveR),
  Gyro(inertial(gyro_port)),
  DriveLF(DriveLF_port, is_reversed(DriveLF_port)),
  DriveRF(DriveRF_port, is_reversed(DriveRF_port)),
  DriveLB(DriveLB_port, is_reversed(DriveLB_port)),
  DriveRB(DriveRB_port, is_reversed(DriveRB_port)),
  R_ForwardTracker(ForwardTracker_port),
  R_SidewaysTracker(SidewaysTracker_port),
  E_ForwardTracker(Brain.ThreeWirePort.Port[ForwardTracker_port]),
  E_SidewaysTracker(Brain.ThreeWirePort.Port[SidewaysTracker_port])
{
  if (drive_setup != ZERO_TRACKER){
    if (drive_setup == TANK_ONE_ENCODER || drive_setup == TANK_ONE_ROTATION){
      odom.set_physical_distances(ForwardTracker_center_distance, 0);
    } else {
      odom.set_physical_distances(ForwardTracker_center_distance, SidewaysTracker_center_distance);
    }
    odom_task = task(position_track_task);
  }
}

But as we all know, this creates a memory permission error when E_ForwardTracker and E_SidewaysTracker are defined because the Brain and ThreeWirePort haven’t been declared yet (or whatever the reason is).

For whatever reason, this code also gives a memory permission error:

triport ThreeWirePort = vex::triport( vex::PORT22 );

Drive::Drive(enum::drive_setup drive_setup, motor_group DriveL, motor_group DriveR, int gyro_port, float wheel_diameter, float wheel_ratio, float gyro_scale, int DriveLF_port, int DriveRF_port, int DriveLB_port, int DriveRB_port, int ForwardTracker_port, float ForwardTracker_diameter, float ForwardTracker_center_distance, int SidewaysTracker_port, float SidewaysTracker_diameter, float SidewaysTracker_center_distance) :
  wheel_diameter(wheel_diameter),
  wheel_ratio(wheel_ratio),
  gyro_scale(gyro_scale),
  drive_in_to_deg_ratio(wheel_ratio/360.0*M_PI*wheel_diameter),
  ForwardTracker_center_distance(ForwardTracker_center_distance),
  ForwardTracker_diameter(ForwardTracker_diameter),
  ForwardTracker_in_to_deg_ratio(M_PI*ForwardTracker_diameter/360.0),
  SidewaysTracker_center_distance(SidewaysTracker_center_distance),
  SidewaysTracker_diameter(SidewaysTracker_diameter),
  SidewaysTracker_in_to_deg_ratio(M_PI*SidewaysTracker_diameter/360.0),
  drive_setup(drive_setup),
  DriveL(DriveL),
  DriveR(DriveR),
  Gyro(inertial(gyro_port)),
  DriveLF(DriveLF_port, is_reversed(DriveLF_port)),
  DriveRF(DriveRF_port, is_reversed(DriveRF_port)),
  DriveLB(DriveLB_port, is_reversed(DriveLB_port)),
  DriveRB(DriveRB_port, is_reversed(DriveRB_port)),
  R_ForwardTracker(ForwardTracker_port),
  R_SidewaysTracker(SidewaysTracker_port),
  E_ForwardTracker(ThreeWirePort.Port[ForwardTracker_port]),
  E_SidewaysTracker(ThreeWirePort.Port[SidewaysTracker_port])
{
  if (drive_setup != ZERO_TRACKER){
    if (drive_setup == TANK_ONE_ENCODER || drive_setup == TANK_ONE_ROTATION){
      odom.set_physical_distances(ForwardTracker_center_distance, 0);
    } else {
      odom.set_physical_distances(ForwardTracker_center_distance, SidewaysTracker_center_distance);
    }
    odom_task = task(position_track_task);
  }
}

I also tried making ThreeWirePort a member of the drive class, which gave a memory permission error as well.

Here is some code that doesn’t give a memory permission error:

Drive::Drive(enum::drive_setup drive_setup, motor_group DriveL, motor_group DriveR, int gyro_port, float wheel_diameter, float wheel_ratio, float gyro_scale, int DriveLF_port, int DriveRF_port, int DriveLB_port, int DriveRB_port, int ForwardTracker_port, float ForwardTracker_diameter, float ForwardTracker_center_distance, int SidewaysTracker_port, float SidewaysTracker_diameter, float SidewaysTracker_center_distance) :
  wheel_diameter(wheel_diameter),
  wheel_ratio(wheel_ratio),
  gyro_scale(gyro_scale),
  drive_in_to_deg_ratio(wheel_ratio/360.0*M_PI*wheel_diameter),
  ForwardTracker_center_distance(ForwardTracker_center_distance),
  ForwardTracker_diameter(ForwardTracker_diameter),
  ForwardTracker_in_to_deg_ratio(M_PI*ForwardTracker_diameter/360.0),
  SidewaysTracker_center_distance(SidewaysTracker_center_distance),
  SidewaysTracker_diameter(SidewaysTracker_diameter),
  SidewaysTracker_in_to_deg_ratio(M_PI*SidewaysTracker_diameter/360.0),
  drive_setup(drive_setup),
  DriveL(DriveL),
  DriveR(DriveR),
  Gyro(inertial(gyro_port)),
  DriveLF(DriveLF_port, is_reversed(DriveLF_port)),
  DriveRF(DriveRF_port, is_reversed(DriveRF_port)),
  DriveLB(DriveLB_port, is_reversed(DriveLB_port)),
  DriveRB(DriveRB_port, is_reversed(DriveRB_port)),
  R_ForwardTracker(ForwardTracker_port),
  R_SidewaysTracker(SidewaysTracker_port),
  E_ForwardTracker(vex::triport( vex::PORT22 ).A),
  E_SidewaysTracker(vex::triport( vex::PORT22 ).C)
{
  if (drive_setup != ZERO_TRACKER){
    if (drive_setup == TANK_ONE_ENCODER || drive_setup == TANK_ONE_ROTATION){
      odom.set_physical_distances(ForwardTracker_center_distance, 0);
    } else {
      odom.set_physical_distances(ForwardTracker_center_distance, SidewaysTracker_center_distance);
    }
    odom_task = task(position_track_task);
  }
}

You’ll notice, though, the the Port[] has been replaced with A and C. For some reason, this method doesn’t allow the client to access ports using integers.

How can I pass the three wire port as an integer? If I’m asking question X when I should be asking question Y, what is that question Y (i.e. how could the code structure as a whole be made better to avoid this problem altogether?)

Here is my code. It’s a template for drivetrain motions that I plan to release publicly in the future, so there should be no problem with including it here:
v5code-project-JAR-Template.zip (52.5 KB)

Thanks!
Josh

#2

It’s all about the order in which constructors are called, you added

triport ThreeWirePort = vex::triport( vex::PORT22 );

in drive.cpp, but the instace of drive actually gets created in main.cpp, presumably before that ThreeWirePort was constructed. So two simple options.

either, something like this.

vex::triport tp1(PORT22);

Drive chassis(

//Specify your drive setup below. There are seven options:
//ZERO_TRACKER, TANK_ONE_ENCODER, TANK_ONE_ROTATION, TANK_TWO_ENCODER, TANK_TWO_ROTATION, HOLONOMIC_TWO_ENCODER, and HOLONOMIC_TWO_ROTATION
//For example, if you are not using odometry, put ZERO_TRACKER below:
ZERO_TRACKER,

and then declare extern tp1 in drive.cpp

drive.cpp partial 
extern vex::triport tp1;

Drive::Drive(enum::drive_setup drive_setup, motor_group DriveL, motor_group DriveR, int gyro_port, float wheel_diameter, float wheel_ratio, float gyro_scale, int DriveLF_port, int DriveRF_port, int DriveLB_port, int DriveRB_port, int ForwardTracker_port, float ForwardTracker_diameter, float ForwardTracker_center_distance, int SidewaysTracker_port, float SidewaysTracker_diameter, float SidewaysTracker_center_distance) :
  wheel_diameter(wheel_diameter),
  wheel_ratio(wheel_ratio),
  gyro_scale(gyro_scale),
  drive_in_to_deg_ratio(wheel_ratio/360.0*M_PI*wheel_diameter),
  ForwardTracker_center_distance(ForwardTracker_center_distance),
  ForwardTracker_diameter(ForwardTracker_diameter),
  ForwardTracker_in_to_deg_ratio(M_PI*ForwardTracker_diameter/360.0),
  SidewaysTracker_center_distance(SidewaysTracker_center_distance),
  SidewaysTracker_diameter(SidewaysTracker_diameter),
  SidewaysTracker_in_to_deg_ratio(M_PI*SidewaysTracker_diameter/360.0),
  drive_setup(drive_setup),
  DriveL(DriveL),
  DriveR(DriveR),
  Gyro(inertial(gyro_port)),
  DriveLF(DriveLF_port, is_reversed(DriveLF_port)),
  DriveRF(DriveRF_port, is_reversed(DriveRF_port)),
  DriveLB(DriveLB_port, is_reversed(DriveLB_port)),
  DriveRB(DriveRB_port, is_reversed(DriveRB_port)),
  R_ForwardTracker(ForwardTracker_port),
  R_SidewaysTracker(SidewaysTracker_port),
  E_ForwardTracker( tp1.Port[ForwardTracker_port]),
  E_SidewaysTracker( tp1.Port[SidewaysTracker_port] )
{
  if (drive_setup != ZERO_TRACKER){
    if (drive_setup == TANK_ONE_ENCODER || drive_setup == TANK_ONE_ROTATION){
      odom.set_physical_distances(ForwardTracker_center_distance, 0);
    } else {
      odom.set_physical_distances(ForwardTracker_center_distance, SidewaysTracker_center_distance);
    }
    odom_task = task(position_track_task);
  }
}

or add a three wire port member to the drive class

class Drive
{
private:
  float wheel_diameter;
  float wheel_ratio;
  float gyro_scale;
  float drive_in_to_deg_ratio;
  float ForwardTracker_center_distance;
  float ForwardTracker_diameter;
  float ForwardTracker_in_to_deg_ratio;
  float SidewaysTracker_center_distance;
  float SidewaysTracker_diameter;
  float SidewaysTracker_in_to_deg_ratio;
  vex::triport ThreeWire = vex::triport(vex::PORT22);

public: 
  drive_setup drive_setup = ZERO_TRACKER;

and then

  E_ForwardTracker( ThreeWire.Port[ForwardTracker_port]),
  E_SidewaysTracker( ThreeWire.Port[SidewaysTracker_port] )
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