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wpilibcExamples/src/main/cpp/examples/MecanumBot/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/geometry/Translation2d.h>
+#include <frc/kinematics/MecanumDriveKinematics.h>
+#include <frc/kinematics/MecanumDriveOdometry.h>
+#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+
+/**
+ * Represents a mecanum drive style drivetrain.
+ */
+class Drivetrain {
+ public:
+  Drivetrain() {
+    m_imu.ResetYaw();
+    // 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_frontRightMotor.SetInverted(true);
+    m_backRightMotor.SetInverted(true);
+  }
+
+  frc::MecanumDriveWheelSpeeds GetCurrentState() const;
+  frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
+  void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
+  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::PWMSparkMax m_frontLeftMotor{1};
+  frc::PWMSparkMax m_frontRightMotor{2};
+  frc::PWMSparkMax m_backLeftMotor{3};
+  frc::PWMSparkMax m_backRightMotor{4};
+
+  frc::Encoder m_frontLeftEncoder{0, 1};
+  frc::Encoder m_frontRightEncoder{2, 3};
+  frc::Encoder m_backLeftEncoder{4, 5};
+  frc::Encoder m_backRightEncoder{6, 7};
+
+  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};
+
+  frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
+  frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
+
+  frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
+
+  frc::MecanumDriveKinematics m_kinematics{
+      m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
+      m_backRightLocation};
+
+  frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
+                                       GetCurrentWheelDistances()};
+
+  // 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};
+};