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https://github.com/wpilibsuite/allwpilib
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59 lines
2.1 KiB
C
59 lines
2.1 KiB
C
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <frc/Encoder.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/motorcontrol/MotorControllerGroup.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/SubsystemBase.h>
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#include <units/length.h>
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#include "Constants.h"
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class Drive : public frc2::SubsystemBase {
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public:
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Drive();
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/**
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* Returns a command that drives the robot with 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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[[nodiscard]] frc2::CommandPtr ArcadeDriveCommand(
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std::function<double()> fwd, std::function<double()> rot);
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/**
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* Returns a command that drives the robot forward a specified distance at a
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* specified speed.
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*
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* @param distance The distance to drive forward in meters
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* @param speed The fraction of max speed at which to drive
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*/
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[[nodiscard]] frc2::CommandPtr DriveDistanceCommand(units::meter_t distance,
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double speed);
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private:
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frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
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frc::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
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frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
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frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
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frc::MotorControllerGroup m_leftMotors{m_leftLeader, m_leftFollower};
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frc::MotorControllerGroup m_rightMotors{m_rightLeader, m_rightFollower};
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frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
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frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
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DriveConstants::kLeftEncoderPorts[1],
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DriveConstants::kLeftEncoderReversed};
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frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
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DriveConstants::kRightEncoderPorts[1],
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DriveConstants::kRightEncoderReversed};
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};
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