mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
[wpilib] Replace MecanumDriveMotorVoltages with a functional interface (#6760)
This commit is contained in:
Wispy
@@ -38,6 +38,7 @@ import java.util.function.Supplier;
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*
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* <p>This class is provided by the NewCommands VendorDep
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*/
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@SuppressWarnings("removal")
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public class MecanumControllerCommand extends Command {
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private final Timer m_timer = new Timer();
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private final boolean m_usePID;
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@@ -53,7 +54,7 @@ public class MecanumControllerCommand extends Command {
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private final PIDController m_frontRightController;
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private final PIDController m_rearRightController;
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private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
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private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
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private final MecanumVoltagesConsumer m_outputDriveVoltages;
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private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
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private double m_prevFrontLeftSpeedSetpoint; // m/s
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private double m_prevRearLeftSpeedSetpoint; // m/s
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@@ -84,8 +85,7 @@ public class MecanumControllerCommand extends Command {
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
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* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
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* voltages.
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* @param outputDriveVoltages A MecanumVoltagesConsumer that consumes voltages of mecanum motors.
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* @param requirements The subsystems to require.
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*/
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@SuppressWarnings("this-escape")
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@@ -104,7 +104,7 @@ public class MecanumControllerCommand extends Command {
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PIDController frontRightController,
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PIDController rearRightController,
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Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
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Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
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MecanumVoltagesConsumer outputDriveVoltages,
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Subsystem... requirements) {
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m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
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m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
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@@ -145,6 +145,139 @@ public class MecanumControllerCommand extends Command {
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addRequirements(requirements);
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}
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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* trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
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* 12 as a voltage output to the motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
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* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one of the odometry classes to
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* provide this.
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* @param feedforward The feedforward to use for the drivetrain.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller for the robot's x position.
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* @param yController The Trajectory Tracker PID controller for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
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* @param desiredRotation The angle that the robot should be facing. This is sampled at each time
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* step.
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* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
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* @param frontLeftController The front left wheel velocity PID.
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* @param rearLeftController The rear left wheel velocity PID.
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
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* @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
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* voltages.
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* @param requirements The subsystems to require.
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*/
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@Deprecated(since = "2025", forRemoval = true)
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public MecanumControllerCommand(
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Trajectory trajectory,
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Supplier<Pose2d> pose,
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SimpleMotorFeedforward feedforward,
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MecanumDriveKinematics kinematics,
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PIDController xController,
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PIDController yController,
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ProfiledPIDController thetaController,
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Supplier<Rotation2d> desiredRotation,
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double maxWheelVelocityMetersPerSecond,
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PIDController frontLeftController,
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PIDController rearLeftController,
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PIDController frontRightController,
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PIDController rearRightController,
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Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
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Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
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Subsystem... requirements) {
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this(
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trajectory,
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pose,
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feedforward,
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kinematics,
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xController,
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yController,
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thetaController,
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desiredRotation,
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maxWheelVelocityMetersPerSecond,
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frontLeftController,
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rearLeftController,
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frontRightController,
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rearRightController,
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currentWheelSpeeds,
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(frontLeft, frontRight, rearLeft, rearRight) ->
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outputDriveVoltages.accept(
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new MecanumDriveMotorVoltages(frontLeft, frontRight, rearLeft, rearRight)),
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requirements);
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}
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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* trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
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* 12 as a voltage output to the motor.
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*
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* <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
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* this is left to the user, since it is not appropriate for paths with nonstationary endstates.
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*
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* <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
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* trajectory. The robot will not follow the rotations from the poses at each timestep. If
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* alternate rotation behavior is desired, the other constructor with a supplier for rotation
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* should be used.
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*
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* @param trajectory The trajectory to follow.
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* @param pose A function that supplies the robot pose - use one of the odometry classes to
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* provide this.
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* @param feedforward The feedforward to use for the drivetrain.
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* @param kinematics The kinematics for the robot drivetrain.
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* @param xController The Trajectory Tracker PID controller for the robot's x position.
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* @param yController The Trajectory Tracker PID controller for the robot's y position.
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* @param thetaController The Trajectory Tracker PID controller for angle for the robot.
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* @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
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* @param frontLeftController The front left wheel velocity PID.
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* @param rearLeftController The rear left wheel velocity PID.
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* @param frontRightController The front right wheel velocity PID.
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* @param rearRightController The rear right wheel velocity PID.
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* @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
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* @param outputDriveVoltages A MecanumVoltagesConsumer that consumes voltages of mecanum motors.
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* @param requirements The subsystems to require.
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*/
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public MecanumControllerCommand(
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Trajectory trajectory,
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Supplier<Pose2d> pose,
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SimpleMotorFeedforward feedforward,
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MecanumDriveKinematics kinematics,
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PIDController xController,
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PIDController yController,
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ProfiledPIDController thetaController,
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double maxWheelVelocityMetersPerSecond,
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PIDController frontLeftController,
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PIDController rearLeftController,
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PIDController frontRightController,
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PIDController rearRightController,
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Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
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MecanumVoltagesConsumer outputDriveVoltages,
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Subsystem... requirements) {
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this(
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trajectory,
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pose,
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feedforward,
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kinematics,
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xController,
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yController,
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thetaController,
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() ->
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trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
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maxWheelVelocityMetersPerSecond,
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frontLeftController,
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rearLeftController,
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frontRightController,
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rearRightController,
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currentWheelSpeeds,
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outputDriveVoltages,
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requirements);
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}
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/**
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* Constructs a new MecanumControllerCommand that when executed will follow the provided
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* trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
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@@ -176,6 +309,7 @@ public class MecanumControllerCommand extends Command {
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* voltages.
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* @param requirements The subsystems to require.
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*/
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@Deprecated(since = "2025", forRemoval = true)
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public MecanumControllerCommand(
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Trajectory trajectory,
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Supplier<Pose2d> pose,
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@@ -200,15 +334,15 @@ public class MecanumControllerCommand extends Command {
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xController,
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yController,
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thetaController,
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() ->
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trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
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maxWheelVelocityMetersPerSecond,
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frontLeftController,
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rearLeftController,
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frontRightController,
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rearRightController,
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currentWheelSpeeds,
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outputDriveVoltages,
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(frontLeft, frontRight, rearLeft, rearRight) ->
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outputDriveVoltages.accept(
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new MecanumDriveMotorVoltages(frontLeft, frontRight, rearLeft, rearRight)),
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requirements);
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}
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@@ -403,8 +537,7 @@ public class MecanumControllerCommand extends Command {
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m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);
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m_outputDriveVoltages.accept(
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new MecanumDriveMotorVoltages(
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frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput));
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frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput);
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} else {
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m_outputWheelSpeeds.accept(
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@@ -425,4 +558,22 @@ public class MecanumControllerCommand extends Command {
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public boolean isFinished() {
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return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
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}
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/** A consumer to represent an operation on the voltages of a mecanum drive. */
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@FunctionalInterface
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public interface MecanumVoltagesConsumer {
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/**
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* Accepts the voltages to perform some operation with them.
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*
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* @param frontLeftVoltage The voltage of the front left motor.
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* @param frontRightVoltage The voltage of the front right motor.
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* @param rearLeftVoltage The voltage of the rear left motor.
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* @param rearRightVoltage The voltage of the rear left motor.
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*/
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void accept(
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double frontLeftVoltage,
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double frontRightVoltage,
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double rearLeftVoltage,
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double rearRightVoltage);
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}
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}
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@@ -5,7 +5,6 @@
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package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
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import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
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import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
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import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
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@@ -125,11 +124,15 @@ public class DriveSubsystem extends SubsystemBase {
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}
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/** Sets the front left drive MotorController to a voltage. */
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public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
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m_frontLeft.setVoltage(volts.frontLeftVoltage);
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m_rearLeft.setVoltage(volts.rearLeftVoltage);
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m_frontRight.setVoltage(volts.frontRightVoltage);
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m_rearRight.setVoltage(volts.rearRightVoltage);
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public void setDriveMotorControllersVolts(
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double frontLeftVoltage,
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double frontRightVoltage,
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double rearLeftVoltage,
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double rearRightVoltage) {
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m_frontLeft.setVoltage(frontLeftVoltage);
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m_rearLeft.setVoltage(rearLeftVoltage);
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m_frontRight.setVoltage(frontRightVoltage);
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m_rearRight.setVoltage(rearRightVoltage);
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}
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/** Resets the drive encoders to currently read a position of 0. */
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@@ -19,7 +19,7 @@ import us.hebi.quickbuf.RepeatedByte;
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import us.hebi.quickbuf.RepeatedMessage;
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public final class Kinematics {
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private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3427,
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private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3021,
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"ChBraW5lbWF0aWNzLnByb3RvEgl3cGkucHJvdG8aEGdlb21ldHJ5MmQucHJvdG8iTQoVUHJvdG9idWZD" +
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|
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@@ -31,53 +31,46 @@ public final class Kinematics {
|
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||||
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|
||||
|
||||
static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("kinematics.proto", "wpi.proto", descriptorData, Geometry2D.getDescriptor());
|
||||
|
||||
@@ -91,17 +84,15 @@ public final class Kinematics {
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(368, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(663, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(663, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(825, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(826, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(988, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(985, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1147, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1078, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1240, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
|
||||
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1353, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
|
||||
static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1191, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
|
||||
|
||||
/**
|
||||
* @return this proto file's descriptor.
|
||||
@@ -2043,506 +2034,6 @@ public final class Kinematics {
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Protobuf type {@code ProtobufMecanumDriveMotorVoltages}
|
||||
*/
|
||||
public static final class ProtobufMecanumDriveMotorVoltages extends ProtoMessage<ProtobufMecanumDriveMotorVoltages> implements Cloneable {
|
||||
private static final long serialVersionUID = 0L;
|
||||
|
||||
/**
|
||||
* <code>optional double front_left = 1;</code>
|
||||
*/
|
||||
private double frontLeft;
|
||||
|
||||
/**
|
||||
* <code>optional double front_right = 2;</code>
|
||||
*/
|
||||
private double frontRight;
|
||||
|
||||
/**
|
||||
* <code>optional double rear_left = 3;</code>
|
||||
*/
|
||||
private double rearLeft;
|
||||
|
||||
/**
|
||||
* <code>optional double rear_right = 4;</code>
|
||||
*/
|
||||
private double rearRight;
|
||||
|
||||
private ProtobufMecanumDriveMotorVoltages() {
|
||||
}
|
||||
|
||||
/**
|
||||
* @return a new empty instance of {@code ProtobufMecanumDriveMotorVoltages}
|
||||
*/
|
||||
public static ProtobufMecanumDriveMotorVoltages newInstance() {
|
||||
return new ProtobufMecanumDriveMotorVoltages();
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_left = 1;</code>
|
||||
* @return whether the frontLeft field is set
|
||||
*/
|
||||
public boolean hasFrontLeft() {
|
||||
return (bitField0_ & 0x00000001) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_left = 1;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages clearFrontLeft() {
|
||||
bitField0_ &= ~0x00000001;
|
||||
frontLeft = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_left = 1;</code>
|
||||
* @return the frontLeft
|
||||
*/
|
||||
public double getFrontLeft() {
|
||||
return frontLeft;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_left = 1;</code>
|
||||
* @param value the frontLeft to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages setFrontLeft(final double value) {
|
||||
bitField0_ |= 0x00000001;
|
||||
frontLeft = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_right = 2;</code>
|
||||
* @return whether the frontRight field is set
|
||||
*/
|
||||
public boolean hasFrontRight() {
|
||||
return (bitField0_ & 0x00000002) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_right = 2;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages clearFrontRight() {
|
||||
bitField0_ &= ~0x00000002;
|
||||
frontRight = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_right = 2;</code>
|
||||
* @return the frontRight
|
||||
*/
|
||||
public double getFrontRight() {
|
||||
return frontRight;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double front_right = 2;</code>
|
||||
* @param value the frontRight to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages setFrontRight(final double value) {
|
||||
bitField0_ |= 0x00000002;
|
||||
frontRight = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_left = 3;</code>
|
||||
* @return whether the rearLeft field is set
|
||||
*/
|
||||
public boolean hasRearLeft() {
|
||||
return (bitField0_ & 0x00000004) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_left = 3;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages clearRearLeft() {
|
||||
bitField0_ &= ~0x00000004;
|
||||
rearLeft = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_left = 3;</code>
|
||||
* @return the rearLeft
|
||||
*/
|
||||
public double getRearLeft() {
|
||||
return rearLeft;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_left = 3;</code>
|
||||
* @param value the rearLeft to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages setRearLeft(final double value) {
|
||||
bitField0_ |= 0x00000004;
|
||||
rearLeft = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_right = 4;</code>
|
||||
* @return whether the rearRight field is set
|
||||
*/
|
||||
public boolean hasRearRight() {
|
||||
return (bitField0_ & 0x00000008) != 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_right = 4;</code>
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages clearRearRight() {
|
||||
bitField0_ &= ~0x00000008;
|
||||
rearRight = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_right = 4;</code>
|
||||
* @return the rearRight
|
||||
*/
|
||||
public double getRearRight() {
|
||||
return rearRight;
|
||||
}
|
||||
|
||||
/**
|
||||
* <code>optional double rear_right = 4;</code>
|
||||
* @param value the rearRight to set
|
||||
* @return this
|
||||
*/
|
||||
public ProtobufMecanumDriveMotorVoltages setRearRight(final double value) {
|
||||
bitField0_ |= 0x00000008;
|
||||
rearRight = value;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages copyFrom(
|
||||
final ProtobufMecanumDriveMotorVoltages other) {
|
||||
cachedSize = other.cachedSize;
|
||||
if ((bitField0_ | other.bitField0_) != 0) {
|
||||
bitField0_ = other.bitField0_;
|
||||
frontLeft = other.frontLeft;
|
||||
frontRight = other.frontRight;
|
||||
rearLeft = other.rearLeft;
|
||||
rearRight = other.rearRight;
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages mergeFrom(
|
||||
final ProtobufMecanumDriveMotorVoltages other) {
|
||||
if (other.isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
if (other.hasFrontLeft()) {
|
||||
setFrontLeft(other.frontLeft);
|
||||
}
|
||||
if (other.hasFrontRight()) {
|
||||
setFrontRight(other.frontRight);
|
||||
}
|
||||
if (other.hasRearLeft()) {
|
||||
setRearLeft(other.rearLeft);
|
||||
}
|
||||
if (other.hasRearRight()) {
|
||||
setRearRight(other.rearRight);
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages clear() {
|
||||
if (isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
bitField0_ = 0;
|
||||
frontLeft = 0D;
|
||||
frontRight = 0D;
|
||||
rearLeft = 0D;
|
||||
rearRight = 0D;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages clearQuick() {
|
||||
if (isEmpty()) {
|
||||
return this;
|
||||
}
|
||||
cachedSize = -1;
|
||||
bitField0_ = 0;
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean equals(Object o) {
|
||||
if (o == this) {
|
||||
return true;
|
||||
}
|
||||
if (!(o instanceof ProtobufMecanumDriveMotorVoltages)) {
|
||||
return false;
|
||||
}
|
||||
ProtobufMecanumDriveMotorVoltages other = (ProtobufMecanumDriveMotorVoltages) o;
|
||||
return bitField0_ == other.bitField0_
|
||||
&& (!hasFrontLeft() || ProtoUtil.isEqual(frontLeft, other.frontLeft))
|
||||
&& (!hasFrontRight() || ProtoUtil.isEqual(frontRight, other.frontRight))
|
||||
&& (!hasRearLeft() || ProtoUtil.isEqual(rearLeft, other.rearLeft))
|
||||
&& (!hasRearRight() || ProtoUtil.isEqual(rearRight, other.rearRight));
|
||||
}
|
||||
|
||||
@Override
|
||||
public void writeTo(final ProtoSink output) throws IOException {
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
output.writeRawByte((byte) 9);
|
||||
output.writeDoubleNoTag(frontLeft);
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
output.writeRawByte((byte) 17);
|
||||
output.writeDoubleNoTag(frontRight);
|
||||
}
|
||||
if ((bitField0_ & 0x00000004) != 0) {
|
||||
output.writeRawByte((byte) 25);
|
||||
output.writeDoubleNoTag(rearLeft);
|
||||
}
|
||||
if ((bitField0_ & 0x00000008) != 0) {
|
||||
output.writeRawByte((byte) 33);
|
||||
output.writeDoubleNoTag(rearRight);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
protected int computeSerializedSize() {
|
||||
int size = 0;
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
if ((bitField0_ & 0x00000004) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
if ((bitField0_ & 0x00000008) != 0) {
|
||||
size += 9;
|
||||
}
|
||||
return size;
|
||||
}
|
||||
|
||||
@Override
|
||||
@SuppressWarnings("fallthrough")
|
||||
public ProtobufMecanumDriveMotorVoltages mergeFrom(final ProtoSource input) throws IOException {
|
||||
// Enabled Fall-Through Optimization (QuickBuffers)
|
||||
int tag = input.readTag();
|
||||
while (true) {
|
||||
switch (tag) {
|
||||
case 9: {
|
||||
// frontLeft
|
||||
frontLeft = input.readDouble();
|
||||
bitField0_ |= 0x00000001;
|
||||
tag = input.readTag();
|
||||
if (tag != 17) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 17: {
|
||||
// frontRight
|
||||
frontRight = input.readDouble();
|
||||
bitField0_ |= 0x00000002;
|
||||
tag = input.readTag();
|
||||
if (tag != 25) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 25: {
|
||||
// rearLeft
|
||||
rearLeft = input.readDouble();
|
||||
bitField0_ |= 0x00000004;
|
||||
tag = input.readTag();
|
||||
if (tag != 33) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 33: {
|
||||
// rearRight
|
||||
rearRight = input.readDouble();
|
||||
bitField0_ |= 0x00000008;
|
||||
tag = input.readTag();
|
||||
if (tag != 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
case 0: {
|
||||
return this;
|
||||
}
|
||||
default: {
|
||||
if (!input.skipField(tag)) {
|
||||
return this;
|
||||
}
|
||||
tag = input.readTag();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void writeTo(final JsonSink output) throws IOException {
|
||||
output.beginObject();
|
||||
if ((bitField0_ & 0x00000001) != 0) {
|
||||
output.writeDouble(FieldNames.frontLeft, frontLeft);
|
||||
}
|
||||
if ((bitField0_ & 0x00000002) != 0) {
|
||||
output.writeDouble(FieldNames.frontRight, frontRight);
|
||||
}
|
||||
if ((bitField0_ & 0x00000004) != 0) {
|
||||
output.writeDouble(FieldNames.rearLeft, rearLeft);
|
||||
}
|
||||
if ((bitField0_ & 0x00000008) != 0) {
|
||||
output.writeDouble(FieldNames.rearRight, rearRight);
|
||||
}
|
||||
output.endObject();
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages mergeFrom(final JsonSource input) throws IOException {
|
||||
if (!input.beginObject()) {
|
||||
return this;
|
||||
}
|
||||
while (!input.isAtEnd()) {
|
||||
switch (input.readFieldHash()) {
|
||||
case 127514064:
|
||||
case -324277155: {
|
||||
if (input.isAtField(FieldNames.frontLeft)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
frontLeft = input.readDouble();
|
||||
bitField0_ |= 0x00000001;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
case -336370317:
|
||||
case -1456996218: {
|
||||
if (input.isAtField(FieldNames.frontRight)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
frontRight = input.readDouble();
|
||||
bitField0_ |= 0x00000002;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
case -854852661:
|
||||
case -712874558: {
|
||||
if (input.isAtField(FieldNames.rearLeft)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
rearLeft = input.readDouble();
|
||||
bitField0_ |= 0x00000004;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
case -724967720:
|
||||
case -618613823: {
|
||||
if (input.isAtField(FieldNames.rearRight)) {
|
||||
if (!input.trySkipNullValue()) {
|
||||
rearRight = input.readDouble();
|
||||
bitField0_ |= 0x00000008;
|
||||
}
|
||||
} else {
|
||||
input.skipUnknownField();
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
input.skipUnknownField();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
input.endObject();
|
||||
return this;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages clone() {
|
||||
return new ProtobufMecanumDriveMotorVoltages().copyFrom(this);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isEmpty() {
|
||||
return ((bitField0_) == 0);
|
||||
}
|
||||
|
||||
public static ProtobufMecanumDriveMotorVoltages parseFrom(final byte[] data) throws
|
||||
InvalidProtocolBufferException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), data).checkInitialized();
|
||||
}
|
||||
|
||||
public static ProtobufMecanumDriveMotorVoltages parseFrom(final ProtoSource input) throws
|
||||
IOException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), input).checkInitialized();
|
||||
}
|
||||
|
||||
public static ProtobufMecanumDriveMotorVoltages parseFrom(final JsonSource input) throws
|
||||
IOException {
|
||||
return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), input).checkInitialized();
|
||||
}
|
||||
|
||||
/**
|
||||
* @return factory for creating ProtobufMecanumDriveMotorVoltages messages
|
||||
*/
|
||||
public static MessageFactory<ProtobufMecanumDriveMotorVoltages> getFactory() {
|
||||
return ProtobufMecanumDriveMotorVoltagesFactory.INSTANCE;
|
||||
}
|
||||
|
||||
/**
|
||||
* @return this type's descriptor.
|
||||
*/
|
||||
public static Descriptors.Descriptor getDescriptor() {
|
||||
return Kinematics.wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor;
|
||||
}
|
||||
|
||||
private enum ProtobufMecanumDriveMotorVoltagesFactory implements MessageFactory<ProtobufMecanumDriveMotorVoltages> {
|
||||
INSTANCE;
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages create() {
|
||||
return ProtobufMecanumDriveMotorVoltages.newInstance();
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Contains name constants used for serializing JSON
|
||||
*/
|
||||
static class FieldNames {
|
||||
static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
|
||||
|
||||
static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
|
||||
|
||||
static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
|
||||
|
||||
static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Protobuf type {@code ProtobufMecanumDriveWheelPositions}
|
||||
*/
|
||||
|
||||
@@ -78,283 +78,243 @@ static const uint8_t file_descriptor[] {
|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x14,0x0a,0x0c,0x0a,0x05,0x04,0x08,0x02,0x01,0x01,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
0x02,0x00,0x03,0x12,0x03,0x3b,0x11,0x12,0x0a,0x0b,
|
||||
0x0a,0x04,0x04,0x09,0x02,0x01,0x12,0x03,0x3c,0x02,
|
||||
0x1f,0x0a,0x0c,0x0a,0x05,0x04,0x09,0x02,0x01,0x06,
|
||||
0x12,0x03,0x3c,0x02,0x14,0x0a,0x0c,0x0a,0x05,0x04,
|
||||
0x09,0x02,0x01,0x01,0x12,0x03,0x3c,0x15,0x1a,0x0a,
|
||||
0x0c,0x0a,0x05,0x04,0x09,0x02,0x01,0x03,0x12,0x03,
|
||||
0x3c,0x1d,0x1e,0x62,0x06,0x70,0x72,0x6f,0x74,0x6f,
|
||||
0x33,
|
||||
};
|
||||
static const char file_name[] = "kinematics.proto";
|
||||
static const char wpi_proto_ProtobufChassisSpeeds_name[] = "wpi.proto.ProtobufChassisSpeeds";
|
||||
@@ -387,12 +347,6 @@ pb_filedesc_t wpi_proto_ProtobufMecanumDriveKinematics::file_descriptor(void) no
|
||||
PB_BIND(wpi_proto_ProtobufMecanumDriveKinematics, wpi_proto_ProtobufMecanumDriveKinematics, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufMecanumDriveMotorVoltages_name[] = "wpi.proto.ProtobufMecanumDriveMotorVoltages";
|
||||
std::string_view wpi_proto_ProtobufMecanumDriveMotorVoltages::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveMotorVoltages_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufMecanumDriveMotorVoltages::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
PB_BIND(wpi_proto_ProtobufMecanumDriveMotorVoltages, wpi_proto_ProtobufMecanumDriveMotorVoltages, AUTO)
|
||||
|
||||
|
||||
static const char wpi_proto_ProtobufMecanumDriveWheelPositions_name[] = "wpi.proto.ProtobufMecanumDriveWheelPositions";
|
||||
std::string_view wpi_proto_ProtobufMecanumDriveWheelPositions::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveWheelPositions_name; }
|
||||
pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelPositions::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
|
||||
|
||||
@@ -63,17 +63,6 @@ typedef struct _wpi_proto_ProtobufMecanumDriveKinematics {
|
||||
pb_callback_t rear_right;
|
||||
} wpi_proto_ProtobufMecanumDriveKinematics;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufMecanumDriveMotorVoltages {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
static pb_filedesc_t file_descriptor(void) noexcept;
|
||||
|
||||
double front_left;
|
||||
double front_right;
|
||||
double rear_left;
|
||||
double rear_right;
|
||||
} wpi_proto_ProtobufMecanumDriveMotorVoltages;
|
||||
|
||||
typedef struct _wpi_proto_ProtobufMecanumDriveWheelPositions {
|
||||
static const pb_msgdesc_t* msg_descriptor(void) noexcept;
|
||||
static std::string_view msg_name(void) noexcept;
|
||||
@@ -129,7 +118,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_default {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_default {0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_default {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_init_default {{{NULL}, NULL}}
|
||||
@@ -140,7 +128,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_zero {0, 0}
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_zero {0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_zero {0, 0, 0, 0}
|
||||
#define wpi_proto_ProtobufSwerveDriveKinematics_init_zero {{{NULL}, NULL}}
|
||||
@@ -160,10 +147,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_front_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_tag 3
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_tag 4
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_left_tag 1
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_left_tag 3
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_right_tag 4
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_front_left_tag 1
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_front_right_tag 2
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_rear_left_tag 3
|
||||
@@ -215,14 +198,6 @@ X(a, CALLBACK, OPTIONAL, MESSAGE, rear_right, 4)
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_MSGTYPE wpi_proto_ProtobufTranslation2d
|
||||
#define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_MSGTYPE wpi_proto_ProtobufTranslation2d
|
||||
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_left, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_right, 2) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, rear_left, 3) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, rear_right, 4)
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_CALLBACK NULL
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_DEFAULT NULL
|
||||
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_FIELDLIST(X, a) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_left, 1) \
|
||||
X(a, STATIC, SINGULAR, DOUBLE, front_right, 2) \
|
||||
@@ -264,12 +239,11 @@ X(a, CALLBACK, OPTIONAL, MESSAGE, angle, 2)
|
||||
/* wpi_proto_ProtobufSwerveDriveKinematics_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveModulePosition_size depends on runtime parameters */
|
||||
/* wpi_proto_ProtobufSwerveModuleState_size depends on runtime parameters */
|
||||
#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE wpi_proto_ProtobufMecanumDriveMotorVoltages_size
|
||||
#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE wpi_proto_ProtobufMecanumDriveWheelPositions_size
|
||||
#define wpi_proto_ProtobufChassisSpeeds_size 27
|
||||
#define wpi_proto_ProtobufDifferentialDriveKinematics_size 9
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelPositions_size 18
|
||||
#define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_size 18
|
||||
#define wpi_proto_ProtobufMecanumDriveMotorVoltages_size 36
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelPositions_size 36
|
||||
#define wpi_proto_ProtobufMecanumDriveWheelSpeeds_size 36
|
||||
|
||||
|
||||
@@ -4,13 +4,9 @@
|
||||
|
||||
package edu.wpi.first.math.kinematics;
|
||||
|
||||
import edu.wpi.first.math.kinematics.proto.MecanumDriveMotorVoltagesProto;
|
||||
import edu.wpi.first.math.kinematics.struct.MecanumDriveMotorVoltagesStruct;
|
||||
import edu.wpi.first.util.protobuf.ProtobufSerializable;
|
||||
import edu.wpi.first.util.struct.StructSerializable;
|
||||
|
||||
/** Represents the motor voltages for a mecanum drive drivetrain. */
|
||||
public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSerializable {
|
||||
@Deprecated(since = "2025", forRemoval = true)
|
||||
public class MecanumDriveMotorVoltages {
|
||||
/** Voltage of the front left motor. */
|
||||
public double frontLeftVoltage;
|
||||
|
||||
@@ -52,11 +48,4 @@ public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSe
|
||||
+ "Rear Left: %.2f V, Rear Right: %.2f V)",
|
||||
frontLeftVoltage, frontRightVoltage, rearLeftVoltage, rearRightVoltage);
|
||||
}
|
||||
|
||||
/** MecanumDriveMotorVoltages struct for serialization. */
|
||||
public static final MecanumDriveMotorVoltagesStruct struct =
|
||||
new MecanumDriveMotorVoltagesStruct();
|
||||
|
||||
/** MecanumDriveMotorVoltages protobuf for serialization. */
|
||||
public static final MecanumDriveMotorVoltagesProto proto = new MecanumDriveMotorVoltagesProto();
|
||||
}
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
// 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.
|
||||
|
||||
package edu.wpi.first.math.kinematics.proto;
|
||||
|
||||
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.util.protobuf.Protobuf;
|
||||
import us.hebi.quickbuf.Descriptors.Descriptor;
|
||||
|
||||
public final class MecanumDriveMotorVoltagesProto
|
||||
implements Protobuf<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
|
||||
@Override
|
||||
public Class<MecanumDriveMotorVoltages> getTypeClass() {
|
||||
return MecanumDriveMotorVoltages.class;
|
||||
}
|
||||
|
||||
@Override
|
||||
public Descriptor getDescriptor() {
|
||||
return ProtobufMecanumDriveMotorVoltages.getDescriptor();
|
||||
}
|
||||
|
||||
@Override
|
||||
public ProtobufMecanumDriveMotorVoltages createMessage() {
|
||||
return ProtobufMecanumDriveMotorVoltages.newInstance();
|
||||
}
|
||||
|
||||
@Override
|
||||
public MecanumDriveMotorVoltages unpack(ProtobufMecanumDriveMotorVoltages msg) {
|
||||
return new MecanumDriveMotorVoltages(
|
||||
msg.getFrontLeft(), msg.getFrontRight(), msg.getRearLeft(), msg.getRearRight());
|
||||
}
|
||||
|
||||
@Override
|
||||
public void pack(ProtobufMecanumDriveMotorVoltages msg, MecanumDriveMotorVoltages value) {
|
||||
msg.setFrontLeft(value.frontLeftVoltage);
|
||||
msg.setFrontRight(value.frontRightVoltage);
|
||||
msg.setRearLeft(value.rearLeftVoltage);
|
||||
msg.setRearRight(value.rearRightVoltage);
|
||||
}
|
||||
}
|
||||
@@ -1,48 +0,0 @@
|
||||
// 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.
|
||||
|
||||
package edu.wpi.first.math.kinematics.struct;
|
||||
|
||||
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.util.struct.Struct;
|
||||
import java.nio.ByteBuffer;
|
||||
|
||||
public final class MecanumDriveMotorVoltagesStruct implements Struct<MecanumDriveMotorVoltages> {
|
||||
@Override
|
||||
public Class<MecanumDriveMotorVoltages> getTypeClass() {
|
||||
return MecanumDriveMotorVoltages.class;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getTypeName() {
|
||||
return "MecanumDriveMotorVoltages";
|
||||
}
|
||||
|
||||
@Override
|
||||
public int getSize() {
|
||||
return kSizeDouble * 4;
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getSchema() {
|
||||
return "double front_left;double front_right;double rear_left;double rear_right";
|
||||
}
|
||||
|
||||
@Override
|
||||
public MecanumDriveMotorVoltages unpack(ByteBuffer bb) {
|
||||
double front_left = bb.getDouble();
|
||||
double front_right = bb.getDouble();
|
||||
double rear_left = bb.getDouble();
|
||||
double rear_right = bb.getDouble();
|
||||
return new MecanumDriveMotorVoltages(front_left, front_right, rear_left, rear_right);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void pack(ByteBuffer bb, MecanumDriveMotorVoltages value) {
|
||||
bb.putDouble(value.frontLeftVoltage);
|
||||
bb.putDouble(value.frontRightVoltage);
|
||||
bb.putDouble(value.rearLeftVoltage);
|
||||
bb.putDouble(value.rearRightVoltage);
|
||||
}
|
||||
}
|
||||
@@ -33,13 +33,6 @@ message ProtobufMecanumDriveKinematics {
|
||||
ProtobufTranslation2d rear_right = 4;
|
||||
}
|
||||
|
||||
message ProtobufMecanumDriveMotorVoltages {
|
||||
double front_left = 1;
|
||||
double front_right = 2;
|
||||
double rear_left = 3;
|
||||
double rear_right = 4;
|
||||
}
|
||||
|
||||
message ProtobufMecanumDriveWheelPositions {
|
||||
double front_left = 1;
|
||||
double front_right = 2;
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
// 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.
|
||||
|
||||
package edu.wpi.first.math.kinematics.proto;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
|
||||
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.wpilibj.ProtoTestBase;
|
||||
|
||||
@SuppressWarnings("PMD.TestClassWithoutTestCases")
|
||||
class MecanumDriveMotorVoltagesProtoTest
|
||||
extends ProtoTestBase<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
|
||||
MecanumDriveMotorVoltagesProtoTest() {
|
||||
super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.proto);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
|
||||
assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
|
||||
assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
|
||||
assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
|
||||
assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
|
||||
}
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
// 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.
|
||||
|
||||
package edu.wpi.first.math.kinematics.struct;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
|
||||
import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
|
||||
import edu.wpi.first.wpilibj.StructTestBase;
|
||||
|
||||
@SuppressWarnings("PMD.TestClassWithoutTestCases")
|
||||
class MecanumDriveMotorVoltagesStructTest extends StructTestBase<MecanumDriveMotorVoltages> {
|
||||
MecanumDriveMotorVoltagesStructTest() {
|
||||
super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.struct);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
|
||||
assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
|
||||
assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
|
||||
assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
|
||||
assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user