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Add setVoltage method to SpeedController (#1997)

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Add a voltage-compensated setVoltage method to SpeedController, which is sorely needed to help teams use feedforward-based controls effectively. Also uses correct units on the cpp side.

Also update relevant examples.
This commit is contained in:
Oblarg
2019-11-01 12:32:40 -04:00
committed by Peter Johnson
parent f6e311ef86
commit 9ebd23d61e
12 changed files with 88 additions and 39 deletions
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6
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
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@@ -75,13 +75,11 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
},
frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
frc2::PIDController(DriveConstants::kPDriveVel, 0, 0),
[this](auto left, auto right) {
m_drive.TankDrive(left / 12_V, right / 12_V);
},
[this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
{&m_drive});
// no auto
return new frc2::SequentialCommandGroup(
std::move(ramseteCommand),
frc2::InstantCommand([this] { m_drive.TankDrive(0, 0); }, {}));
frc2::InstantCommand([this] { m_drive.TankDriveVolts(0_V, 0_V); }, {}));
}

7
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -7,8 +7,6 @@
#include "subsystems/DriveSubsystem.h"
#include <units/units.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/kinematics/DifferentialDriveWheelSpeeds.h>
@@ -39,8 +37,9 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
m_drive.ArcadeDrive(fwd, rot);
}
void DriveSubsystem::TankDrive(double left, double right) {
m_drive.TankDrive(left, right, false);
void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
m_leftMotors.SetVoltage(left);
m_rightMotors.SetVoltage(-right);
}
void DriveSubsystem::ResetEncoders() {

7
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
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@@ -7,6 +7,8 @@
#pragma once
#include <units/units.h>
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
@@ -38,13 +40,12 @@ class DriveSubsystem : public frc2::SubsystemBase {
void ArcadeDrive(double fwd, double rot);
/**
* Drives the robot using tank controls. Does not square inputs to enable
* composition with external controllers.
* Controls each side of the drive directly with a voltage.
*
* @param left the commanded left output
* @param right the commanded right output
*/
void TankDrive(double left, double right);
void TankDriveVolts(units::volt_t left, units::volt_t right);
/**
* Resets the drive encoders to currently read a position of 0.