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https://github.com/wpilibsuite/allwpilib
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58 lines
2.0 KiB
C
58 lines
2.0 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 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/AnalogGyro.h>
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#include <frc/estimator/SwerveDrivePoseEstimator.h>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/SwerveDriveKinematics.h>
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#include <frc/kinematics/SwerveDriveOdometry.h>
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#include <wpi/math>
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#include "SwerveModule.h"
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/**
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* Represents a swerve drive style drivetrain.
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*/
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class Drivetrain {
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public:
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Drivetrain() { m_gyro.Reset(); }
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void Drive(units::meters_per_second_t xSpeed,
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units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
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bool fieldRelative);
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void UpdateOdometry();
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static constexpr auto kMaxSpeed = 3.0_mps; // 3 meters per second
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static constexpr units::radians_per_second_t kMaxAngularSpeed{
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wpi::math::pi}; // 1/2 rotation per second
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private:
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frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
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frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
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frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
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frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
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SwerveModule m_frontLeft{1, 2};
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SwerveModule m_frontRight{2, 3};
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SwerveModule m_backLeft{5, 6};
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SwerveModule m_backRight{7, 8};
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frc::AnalogGyro m_gyro{0};
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frc::SwerveDriveKinematics<4> m_kinematics{
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m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
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m_backRightLocation};
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// Gains are for example purposes only - must be determined for your own
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// robot!
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frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
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frc::Rotation2d(), frc::Pose2d(), m_kinematics,
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{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
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};
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