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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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79
wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp
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@@ -17,12 +17,6 @@
using namespace frc;
/**
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use a SpeedControllerGroup. If a motor
* needs to be inverted, do so before passing it in.
*/
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
@@ -33,18 +27,6 @@ DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SetName("DifferentialDrive", instances);
}
/**
* Arcade drive method for differential drive platform.
*
* Note: Some drivers may prefer inverted rotation controls. This can be done by
* negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is negative.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
bool squaredInputs) {
static bool reported = false;
@@ -100,21 +82,6 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
m_safetyHelper.Feed();
}
/**
* Curvature drive method for differential drive platform.
*
* The rotation argument controls the curvature of the robot's path rather than
* its rate of heading change. This makes the robot more controllable at high
* speeds. Also handles the robot's quick turn functionality - "quick turn"
* overrides constant-curvature turning for turn-in-place maneuvers.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param isQuickTurn If set, overrides constant-curvature turning for
* turn-in-place maneuvers.
*/
void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
bool isQuickTurn) {
static bool reported = false;
@@ -188,15 +155,6 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
m_safetyHelper.Feed();
}
/**
* Tank drive method for differential drive platform.
*
* @param leftSpeed The robot left side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
bool squaredInputs) {
static bool reported = false;
@@ -225,55 +183,18 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
m_safetyHelper.Feed();
}
/**
* Sets the QuickStop speed threshold in curvature drive.
*
* QuickStop compensates for the robot's moment of inertia when stopping after a
* QuickTurn.
*
* While QuickTurn is enabled, the QuickStop accumulator takes on the rotation
* rate value outputted by the low-pass filter when the robot's speed along the
* X axis is below the threshold. When QuickTurn is disabled, the accumulator's
* value is applied against the computed angular power request to slow the
* robot's rotation.
*
* @param threshold X speed below which quick stop accumulator will receive
* rotation rate values [0..1.0].
*/
void DifferentialDrive::SetQuickStopThreshold(double threshold) {
m_quickStopThreshold = threshold;
}
/**
* Sets the low-pass filter gain for QuickStop in curvature drive.
*
* The low-pass filter filters incoming rotation rate commands to smooth out
* high frequency changes.
*
* @param alpha Low-pass filter gain [0.0..2.0]. Smaller values result in slower
* output changes. Values between 1.0 and 2.0 result in output
* oscillation. Values below 0.0 and above 2.0 are unstable.
*/
void DifferentialDrive::SetQuickStopAlpha(double alpha) {
m_quickStopAlpha = alpha;
}
/**
* Gets if the power sent to the right side of the drivetrain is multipled by
* -1.
*
* @return true if the right side is inverted
*/
bool DifferentialDrive::IsRightSideInverted() const {
return m_rightSideInvertMultiplier == -1.0;
}
/**
* Sets if the power sent to the right side of the drivetrain should be
* multipled by -1.
*
* @param rightSideInverted true if right side power should be multipled by -1
*/
void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0;
}

55
wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp
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@@ -19,39 +19,12 @@ using namespace frc;
constexpr double kPi = 3.14159265358979323846;
/**
* Construct a Killough drive with the given motors and default motor angles.
*
* The default motor angles make the wheels on each corner parallel to their
* respective opposite sides.
*
* If a motor needs to be inverted, do so before passing it in.
*
* @param leftMotor The motor on the left corner.
* @param rightMotor The motor on the right corner.
* @param backMotor The motor on the back corner.
*/
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor)
: KilloughDrive(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle,
kDefaultRightMotorAngle, kDefaultBackMotorAngle) {}
/**
* Construct a Killough drive with the given motors.
*
* Angles are measured in degrees clockwise from the positive X axis.
*
* @param leftMotor The motor on the left corner.
* @param rightMotor The motor on the right corner.
* @param backMotor The motor on the back corner.
* @param leftMotorAngle The angle of the left wheel's forward direction of
* travel.
* @param rightMotorAngle The angle of the right wheel's forward direction of
* travel.
* @param backMotorAngle The angle of the back wheel's forward direction of
* travel.
*/
KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
@@ -71,21 +44,6 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SetName("KilloughDrive", instances);
}
/**
* Drive method for Killough platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
* positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
*/
void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
double zRotation, double gyroAngle) {
if (!reported) {
@@ -118,19 +76,6 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
m_safetyHelper.Feed();
}
/**
* Drive method for Killough platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
* positive.
* @param angle The angle around the Z axis at which the robot drives in
* degrees [-180..180].
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
*/
void KilloughDrive::DrivePolar(double magnitude, double angle,
double zRotation) {
if (!reported) {

45
wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp
View File

@@ -20,11 +20,6 @@ using namespace frc;
constexpr double kPi = 3.14159265358979323846;
/**
* Construct a MecanumDrive.
*
* If a motor needs to be inverted, do so before passing it in.
*/
MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
@@ -42,21 +37,6 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SetName("MecanumDrive", instances);
}
/**
* Drive method for Mecanum platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
* positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
*/
void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
double zRotation, double gyroAngle) {
if (!reported) {
@@ -93,19 +73,6 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
m_safetyHelper.Feed();
}
/**
* Drive method for Mecanum platform.
*
* Angles are measured clockwise from the positive X axis. The robot's speed is
* independent from its angle or rotation rate.
*
* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
* positive.
* @param angle The angle around the Z axis at which the robot drives in
* degrees [-180..180].
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
*/
void MecanumDrive::DrivePolar(double magnitude, double angle,
double zRotation) {
if (!reported) {
@@ -118,22 +85,10 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0);
}
/**
* Gets if the power sent to the right side of the drivetrain is multipled by
* -1.
*
* @return true if the right side is inverted
*/
bool MecanumDrive::IsRightSideInverted() const {
return m_rightSideInvertMultiplier == -1.0;
}
/**
* Sets if the power sent to the right side of the drivetrain should be
* multipled by -1.
*
* @param rightSideInverted true if right side power should be multipled by -1
*/
void MecanumDrive::SetRightSideInverted(bool rightSideInverted) {
m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0;
}

35
wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp
View File

@@ -20,32 +20,10 @@ using namespace frc;
RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); }
/**
* Sets the deadband applied to the drive inputs (e.g., joystick values).
*
* The default value is 0.02. Inputs smaller than the deadband are set to 0.0
* while inputs larger than the deadband are scaled from 0.0 to 1.0. See
* ApplyDeadband().
*
* @param deadband The deadband to set.
*/
void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; }
/**
* Configure the scaling factor for using RobotDrive with motor controllers in a
* mode other than PercentVbus or to limit the maximum output.
*
* @param maxOutput Multiplied with the output percentage computed by the drive
* functions.
*/
void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; }
/**
* Feed the motor safety object. Resets the timer that will stop the motors if
* it completes.
*
* @see MotorSafetyHelper::Feed()
*/
void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); }
void RobotDriveBase::SetExpiration(double timeout) {
@@ -66,9 +44,6 @@ void RobotDriveBase::SetSafetyEnabled(bool enabled) {
m_safetyHelper.SetSafetyEnabled(enabled);
}
/**
* Limit motor values to the -1.0 to +1.0 range.
*/
double RobotDriveBase::Limit(double value) {
if (value > 1.0) {
return 1.0;
@@ -79,13 +54,6 @@ double RobotDriveBase::Limit(double value) {
return value;
}
/**
* Returns 0.0 if the given value is within the specified range around zero. The
* remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0.
*
* @param value value to clip
* @param deadband range around zero
*/
double RobotDriveBase::ApplyDeadband(double value, double deadband) {
if (std::abs(value) > deadband) {
if (value > 0.0) {
@@ -98,9 +66,6 @@ double RobotDriveBase::ApplyDeadband(double value, double deadband) {
}
}
/**
* Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
*/
void RobotDriveBase::Normalize(wpi::MutableArrayRef<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {

18
wpilibc/src/main/native/cpp/Drive/Vector2d.cpp
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@@ -18,11 +18,6 @@ Vector2d::Vector2d(double x, double y) {
this->y = y;
}
/**
* Rotate a vector in Cartesian space.
*
* @param angle angle in degrees by which to rotate vector counter-clockwise.
*/
void Vector2d::Rotate(double angle) {
double cosA = std::cos(angle * (kPi / 180.0));
double sinA = std::sin(angle * (kPi / 180.0));
@@ -33,25 +28,12 @@ void Vector2d::Rotate(double angle) {
y = out[1];
}
/**
* Returns dot product of this vector with argument.
*
* @param vec Vector with which to perform dot product.
*/
double Vector2d::Dot(const Vector2d& vec) const {
return x * vec.x + y * vec.y;
}
/**
* Returns magnitude of vector.
*/
double Vector2d::Magnitude() const { return std::sqrt(x * x + y * y); }
/**
* Returns scalar projection of this vector onto argument.
*
* @param vec Vector onto which to project this vector.
*/
double Vector2d::ScalarProject(const Vector2d& vec) const {
return Dot(vec) / vec.Magnitude();
}