Examples Clean-Up (#1408)

2026-06-19 00:41:41 +00:00 · 2024-09-14 23:10:02 -05:00
parent 596c87519c
commit 9e6a066561
269 changed files with 9346 additions and 3734 deletions
--- a/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h
@@ -0,0 +1,85 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) PhotonVision
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <frc/ADXRS450_Gyro.h>
+#include <frc/SPI.h>
+#include <frc/estimator/SwerveDrivePoseEstimator.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/simulation/ADXRS450_GyroSim.h>
+
+#include "SwerveDriveSim.h"
+#include "SwerveModule.h"
+
+class SwerveDrive {
+ public:
+  SwerveDrive();
+  void Periodic();
+  void Drive(units::meters_per_second_t vx, units::meters_per_second_t vy,
+             units::radians_per_second_t omega);
+  void SetChassisSpeeds(const frc::ChassisSpeeds& targetChassisSpeeds,
+                        bool openLoop, bool steerInPlace);
+  void SetModuleStates(
+      const std::array<frc::SwerveModuleState, 4>& desiredStates, bool openLoop,
+      bool steerInPlace);
+  void Stop();
+  void AddVisionMeasurement(const frc::Pose2d& visionMeasurement,
+                            units::second_t timestamp);
+  void AddVisionMeasurement(const frc::Pose2d& visionMeasurement,
+                            units::second_t timestamp,
+                            const Eigen::Vector3d& stdDevs);
+  void ResetPose(const frc::Pose2d& pose, bool resetSimPose);
+  frc::Pose2d GetPose() const;
+  frc::Rotation2d GetHeading() const;
+  frc::Rotation2d GetGyroYaw() const;
+  frc::ChassisSpeeds GetChassisSpeeds() const;
+  std::array<frc::SwerveModuleState, 4> GetModuleStates() const;
+  std::array<frc::SwerveModulePosition, 4> GetModulePositions() const;
+  std::array<frc::Pose2d, 4> GetModulePoses() const;
+  void Log();
+  void SimulationPeriodic();
+  frc::Pose2d GetSimPose() const;
+  units::ampere_t GetCurrentDraw() const;
+
+ private:
+  std::array<SwerveModule, 4> swerveMods{
+      SwerveModule{constants::Swerve::FL_CONSTANTS},
+      SwerveModule{constants::Swerve::FR_CONSTANTS},
+      SwerveModule{constants::Swerve::BL_CONSTANTS},
+      SwerveModule{constants::Swerve::BR_CONSTANTS}};
+  frc::SwerveDriveKinematics<4> kinematics{
+      swerveMods[0].GetModuleConstants().centerOffset,
+      swerveMods[1].GetModuleConstants().centerOffset,
+      swerveMods[2].GetModuleConstants().centerOffset,
+      swerveMods[3].GetModuleConstants().centerOffset,
+  };
+  frc::ADXRS450_Gyro gyro{frc::SPI::Port::kOnboardCS0};
+  frc::SwerveDrivePoseEstimator<4> poseEstimator;
+  frc::ChassisSpeeds targetChassisSpeeds{};
+
+  frc::sim::ADXRS450_GyroSim gyroSim;
+  SwerveDriveSim swerveDriveSim;
+  units::ampere_t totalCurrentDraw{0};
+};