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wpilibcExamples/src/main/cpp/examples/SwerveBot/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/OnboardIMU.h>
+#include <frc/geometry/Translation2d.h>
+#include <frc/kinematics/SwerveDriveKinematics.h>
+#include <frc/kinematics/SwerveDriveOdometry.h>
+
+#include "SwerveModule.h"
+
+/**
+ * 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()}};
+};