allwpilib/wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

#include <numbers>

#include "wpi/hardware/imu/OnboardIMU.hpp"
#include "wpi/math/geometry/Translation2d.hpp"
#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
#include "wpi/math/kinematics/SwerveDriveOdometry.hpp"

#include "SwerveModule.hpp"

/**
 * Represents a swerve drive style drivetrain.
 */
class Drivetrain {
 public:
  Drivetrain() { m_imu.ResetYaw(); }

  void Drive(units::meters_per_second_t xSpeed,
             units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
             bool fieldRelative, units::second_t period);
  void UpdateOdometry();

  static constexpr units::meters_per_second_t kMaxSpeed =
      3.0_mps;  // 3 meters per second
  static constexpr units::radians_per_second_t kMaxAngularSpeed{
      std::numbers::pi};  // 1/2 rotation per second

 private:
  frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
  frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
  frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
  frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};

  SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
  SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
  SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
  SwerveModule m_backRight{7, 8, 12, 13, 14, 15};

  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};

  frc::SwerveDriveKinematics<4> m_kinematics{
      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
      m_backRightLocation};

  frc::SwerveDriveOdometry<4> m_odometry{
      m_kinematics,
      m_imu.GetRotation2d(),
      {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
       m_backLeft.GetPosition(), m_backRight.GetPosition()}};
};