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wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp

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+// 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 <frc/Encoder.h>
+#include <frc/OnboardIMU.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/kinematics/DifferentialDriveKinematics.h>
+#include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/velocity.h>
+
+/**
+ * Represents a differential drive style drivetrain.
+ */
+class Drivetrain {
+ public:
+  Drivetrain() {
+    m_leftLeader.AddFollower(m_leftFollower);
+    m_rightLeader.AddFollower(m_rightFollower);
+
+    // We need to invert one side of the drivetrain so that positive voltages
+    // result in both sides moving forward. Depending on how your robot's
+    // gearbox is constructed, you might have to invert the left side instead.
+    m_rightLeader.SetInverted(true);
+
+    m_imu.ResetYaw();
+    // Set the distance per pulse for the drive encoders. We can simply use the
+    // distance traveled for one rotation of the wheel divided by the encoder
+    // resolution.
+    m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
+                                      kEncoderResolution);
+    m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
+                                       kEncoderResolution);
+
+    m_leftEncoder.Reset();
+    m_rightEncoder.Reset();
+  }
+
+  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
+
+  void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
+  void Drive(units::meters_per_second_t xSpeed,
+             units::radians_per_second_t rot);
+  void UpdateOdometry();
+
+ private:
+  static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
+  static constexpr double kWheelRadius = 0.0508;  // meters
+  static constexpr int kEncoderResolution = 4096;
+
+  frc::PWMSparkMax m_leftLeader{1};
+  frc::PWMSparkMax m_leftFollower{2};
+  frc::PWMSparkMax m_rightLeader{3};
+  frc::PWMSparkMax m_rightFollower{4};
+
+  frc::Encoder m_leftEncoder{0, 1};
+  frc::Encoder m_rightEncoder{2, 3};
+
+  frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
+
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+
+  frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
+  frc::DifferentialDriveOdometry m_odometry{
+      m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
+      units::meter_t{m_rightEncoder.GetDistance()}};
+
+  // Gains are for example purposes only - must be determined for your own
+  // robot!
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
+};