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https://github.com/wpilibsuite/allwpilib
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96 lines
2.5 KiB
C
96 lines
2.5 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc/Encoder.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/SpeedControllerGroup.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc2/command/SubsystemBase.h>
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#include "Constants.h"
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class DriveSubsystem : public frc2::SubsystemBase {
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public:
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DriveSubsystem();
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/**
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* Will be called periodically whenever the CommandScheduler runs.
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*/
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void Periodic() override;
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// Subsystem methods go here.
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/**
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* Drives the robot using arcade controls.
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*
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* @param fwd the commanded forward movement
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* @param rot the commanded rotation
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*/
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void ArcadeDrive(double fwd, double rot);
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/**
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* Resets the drive encoders to currently read a position of 0.
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*/
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void ResetEncoders();
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/**
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* Gets the average distance of the TWO encoders.
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*
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* @return the average of the TWO encoder readings
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*/
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double GetAverageEncoderDistance();
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/**
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* Gets the left drive encoder.
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*
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* @return the left drive encoder
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*/
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frc::Encoder& GetLeftEncoder();
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/**
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* Gets the right drive encoder.
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*
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* @return the right drive encoder
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*/
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frc::Encoder& GetRightEncoder();
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/**
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* Sets the max output of the drive. Useful for scaling the drive to drive
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* more slowly.
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*
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* @param maxOutput the maximum output to which the drive will be constrained
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*/
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void SetMaxOutput(double maxOutput);
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private:
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// Components (e.g. motor controllers and sensors) should generally be
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// declared private and exposed only through public methods.
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// The motor controllers
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frc::PWMVictorSPX m_left1;
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frc::PWMVictorSPX m_left2;
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frc::PWMVictorSPX m_right1;
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frc::PWMVictorSPX m_right2;
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// The motors on the left side of the drive
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frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
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// The motors on the right side of the drive
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frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
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// The robot's drive
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frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
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// The left-side drive encoder
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frc::Encoder m_leftEncoder;
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// The right-side drive encoder
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frc::Encoder m_rightEncoder;
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};
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