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Fixed Simulation C++ API

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Fixed API in the following classes:
 - RobotDrive
 - AnalogGyro

moved some files from Athena the shared that are independant of platform
Renamed Gyro to AnalogGyro
added smart pointer constructors to RobotDrive

Change-Id: If8a1bde5aed77fd60869d1993c302dd519bc8848
This commit is contained in:
Peter_Mitrano
2016-01-07 15:56:00 -05:00
parent ac27f4b644
commit 63878d8ab7
7 changed files with 109 additions and 161 deletions
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138
wpilibc/simulation/src/RobotDrive.cpp
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@@ -6,11 +6,10 @@
/*----------------------------------------------------------------------------*/
#include "RobotDrive.h"
//#include "CANJaguar.h"
#include "GenericHID.h"
#include "Joystick.h"
#include "Jaguar.h"
#include "Talon.h"
#include "Utility.h"
#include "WPIErrors.h"
#include <math.h>
@@ -20,6 +19,10 @@
const int32_t RobotDrive::kMaxNumberOfMotors;
static auto make_shared_nodelete(SpeedController *ptr) {
return std::shared_ptr<SpeedController>(ptr, NullDeleter<SpeedController>());
}
/*
* Driving functions
* These functions provide an interface to multiple motors that is used for C programming
@@ -40,15 +43,16 @@ void RobotDrive::InitRobotDrive() {
/** Constructor for RobotDrive with 2 motors specified with channel numbers.
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* This call assumes Talosn for controlling the motors.
* @param leftMotorChannel The PWM channel number that drives the left motor.
* @param rightMotorChannel The PWM channel number that drives the right motor.
*/
RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
{
InitRobotDrive();
m_rearLeftMotor = new Jaguar(leftMotorChannel);
m_rearRightMotor = new Jaguar(rightMotorChannel);
m_rearLeftMotor = std::make_shared<Talon>(leftMotorChannel);
m_rearRightMotor = std::make_shared<Talon>(rightMotorChannel);
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
@@ -61,7 +65,7 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
* Constructor for RobotDrive with 4 motors specified with channel numbers.
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* This call assumes Talons for controlling the motors.
* @param frontLeftMotor Front left motor channel number
* @param rearLeftMotor Rear Left motor channel number
* @param frontRightMotor Front right motor channel number
@@ -71,10 +75,10 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
uint32_t frontRightMotor, uint32_t rearRightMotor)
{
InitRobotDrive();
m_rearLeftMotor = new Jaguar(rearLeftMotor);
m_rearRightMotor = new Jaguar(rearRightMotor);
m_frontLeftMotor = new Jaguar(frontLeftMotor);
m_frontRightMotor = new Jaguar(frontRightMotor);
m_rearLeftMotor = std::make_shared<Talon>(rearLeftMotor);
m_rearRightMotor = std::make_shared<Talon>(rearRightMotor);
m_frontLeftMotor = std::make_shared<Talon>(frontLeftMotor);
m_frontRightMotor = std::make_shared<Talon>(frontRightMotor);
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
@@ -91,34 +95,36 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
* @param leftMotor The left SpeedController object used to drive the robot.
* @param rightMotor the right SpeedController object used to drive the robot.
*/
RobotDrive::RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor)
{
RobotDrive::RobotDrive(SpeedController *leftMotor,
SpeedController *rightMotor) {
InitRobotDrive();
if (leftMotor == nullptr || rightMotor == nullptr)
{
if (leftMotor == nullptr || rightMotor == nullptr) {
wpi_setWPIError(NullParameter);
m_rearLeftMotor = m_rearRightMotor = nullptr;
return;
}
m_rearLeftMotor = leftMotor;
m_rearRightMotor = rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
m_rearLeftMotor = make_shared_nodelete(leftMotor);
m_rearRightMotor = make_shared_nodelete(rightMotor);
}
RobotDrive::RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor)
{
//TODO: Change to rvalue references & move syntax.
RobotDrive::RobotDrive(SpeedController &leftMotor,
SpeedController &rightMotor) {
InitRobotDrive();
m_rearLeftMotor = &leftMotor;
m_rearRightMotor = &rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
m_rearLeftMotor = make_shared_nodelete(&leftMotor);
m_rearRightMotor = make_shared_nodelete(&rightMotor);
}
RobotDrive::RobotDrive(std::shared_ptr<SpeedController> leftMotor,
std::shared_ptr<SpeedController> rightMotor) {
InitRobotDrive();
if (leftMotor == nullptr || rightMotor == nullptr) {
wpi_setWPIError(NullParameter);
m_rearLeftMotor = m_rearRightMotor = nullptr;
return;
}
m_deleteSpeedControllers = false;
m_rearLeftMotor = leftMotor;
m_rearRightMotor = rightMotor;
}
/**
@@ -129,12 +135,40 @@ RobotDrive::RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor)
* @param rearRightMotor The back right SpeedController object used to drive the robot.
* @param frontRightMotor The front right SpeedController object used to drive the robot.
*/
RobotDrive::RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
SpeedController *frontRightMotor, SpeedController *rearRightMotor)
{
RobotDrive::RobotDrive(SpeedController *frontLeftMotor,
SpeedController *rearLeftMotor,
SpeedController *frontRightMotor,
SpeedController *rearRightMotor) {
InitRobotDrive();
if (frontLeftMotor == nullptr || rearLeftMotor == nullptr || frontRightMotor == nullptr || rearRightMotor == nullptr)
{
if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
frontRightMotor == nullptr || rearRightMotor == nullptr) {
wpi_setWPIError(NullParameter);
return;
}
m_frontLeftMotor = make_shared_nodelete(frontLeftMotor);
m_rearLeftMotor = make_shared_nodelete(rearLeftMotor);
m_frontRightMotor = make_shared_nodelete(frontRightMotor);
m_rearRightMotor = make_shared_nodelete(rearRightMotor);
}
RobotDrive::RobotDrive(SpeedController &frontLeftMotor,
SpeedController &rearLeftMotor,
SpeedController &frontRightMotor,
SpeedController &rearRightMotor) {
InitRobotDrive();
m_frontLeftMotor = make_shared_nodelete(&frontLeftMotor);
m_rearLeftMotor = make_shared_nodelete(&rearLeftMotor);
m_frontRightMotor = make_shared_nodelete(&frontRightMotor);
m_rearRightMotor = make_shared_nodelete(&rearRightMotor);
}
RobotDrive::RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
std::shared_ptr<SpeedController> rearLeftMotor,
std::shared_ptr<SpeedController> frontRightMotor,
std::shared_ptr<SpeedController> rearRightMotor) {
InitRobotDrive();
if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
frontRightMotor == nullptr || rearRightMotor == nullptr) {
wpi_setWPIError(NullParameter);
return;
}
@@ -142,42 +176,6 @@ RobotDrive::RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLef
m_rearLeftMotor = rearLeftMotor;
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
RobotDrive::RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
SpeedController &frontRightMotor, SpeedController &rearRightMotor)
{
InitRobotDrive();
m_frontLeftMotor = &frontLeftMotor;
m_rearLeftMotor = &rearLeftMotor;
m_frontRightMotor = &frontRightMotor;
m_rearRightMotor = &rearRightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
/**
* RobotDrive destructor.
* Deletes motor objects that were not passed in and created internally only.
**/
RobotDrive::~RobotDrive()
{
if (m_deleteSpeedControllers)
{
delete m_frontLeftMotor;
delete m_rearLeftMotor;
delete m_frontRightMotor;
delete m_rearRightMotor;
}
// FIXME: delete m_safetyHelper;
}
/**