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wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.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 <frc/Encoder.h>
+#include <frc/Timer.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/trajectory/TrapezoidProfile.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/length.h>
+
+#include "Constants.h"
+#include "ExampleSmartMotorController.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+  DriveSubsystem();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  // Subsystem methods go here.
+
+  /**
+   * Attempts to follow the given drive states using offboard PID.
+   *
+   * @param currentLeft The current left wheel state.
+   * @param currentRight The current right wheel state.
+   * @param nextLeft The next left wheel state.
+   * @param nextRight The next right wheel state.
+   */
+  void SetDriveStates(frc::TrapezoidProfile<units::meters>::State currentLeft,
+                      frc::TrapezoidProfile<units::meters>::State currentRight,
+                      frc::TrapezoidProfile<units::meters>::State nextLeft,
+                      frc::TrapezoidProfile<units::meters>::State nextRight);
+
+  /**
+   * Drives the robot using arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  void ArcadeDrive(double fwd, double rot);
+
+  /**
+   * Resets the drive encoders to currently read a position of 0.
+   */
+  void ResetEncoders();
+
+  /**
+   * Gets the distance of the left encoder.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  units::meter_t GetLeftEncoderDistance();
+
+  /**
+   * Gets the distance of the right encoder.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  units::meter_t GetRightEncoderDistance();
+
+  /**
+   * Sets the max output of the drive.  Useful for scaling the drive to drive
+   * more slowly.
+   *
+   * @param maxOutput the maximum output to which the drive will be constrained
+   */
+  void SetMaxOutput(double maxOutput);
+
+  /**
+   * Creates a command to drive forward a specified distance using a motion
+   * profile.
+   *
+   * @param distance The distance to drive forward.
+   * @return A command.
+   */
+  frc2::CommandPtr ProfiledDriveDistance(units::meter_t distance);
+
+  /**
+   * Creates a command to drive forward a specified distance using a motion
+   * profile without resetting the encoders.
+   *
+   * @param distance The distance to drive forward.
+   * @return A command.
+   */
+  frc2::CommandPtr DynamicProfiledDriveDistance(units::meter_t distance);
+
+ private:
+  frc::TrapezoidProfile<units::meters> m_profile{
+      {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration}};
+  frc::Timer m_timer;
+  units::meter_t m_initialLeftDistance;
+  units::meter_t m_initialRightDistance;
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+
+  // The motor controllers
+  ExampleSmartMotorController m_leftLeader;
+  ExampleSmartMotorController m_leftFollower;
+  ExampleSmartMotorController m_rightLeader;
+  ExampleSmartMotorController m_rightFollower;
+
+  // A feedforward component for the drive
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward;
+
+  // The robot's drive
+  frc::DifferentialDrive m_drive{
+      [&](double output) { m_leftLeader.Set(output); },
+      [&](double output) { m_rightLeader.Set(output); }};
+};