Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Refactor WheelVoltages inner class to a separate file (#4203)

Browse Source
This commit is contained in:
Tyler Veness
2022-05-01 11:01:20 -07:00
committed by GitHub
parent 87bf70fa8e
commit ce1a7d698a
8 changed files with 63 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
View File

@@ -7,6 +7,7 @@
#include <wpi/SymbolExports.h>
#include "Eigen/Core"
#include "frc/controller/DifferentialDriveWheelVoltages.h"
#include "frc/system/LinearSystem.h"
#include "units/acceleration.h"
#include "units/angular_acceleration.h"
@@ -25,14 +26,6 @@ namespace frc {
*/
class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
public:
/**
* Motor voltages for a differential drive.
*/
struct WheelVoltages {
units::volt_t left = 0_V;
units::volt_t right = 0_V;
};
/**
* Constructs a DifferentialDriveAccelerationLimiter.
*
@@ -55,10 +48,10 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
* @param rightVoltage The unconstrained right motor voltage.
* @return The constrained wheel voltages.
*/
WheelVoltages Calculate(units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity,
units::volt_t leftVoltage,
units::volt_t rightVoltage);
DifferentialDriveWheelVoltages Calculate(
units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity, units::volt_t leftVoltage,
units::volt_t rightVoltage);
private:
LinearSystem<2, 2, 2> m_system;

19
wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h Normal file
View File

@@ -0,0 +1,19 @@
// 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 "units/voltage.h"
namespace frc {
/**
* Motor voltages for a differential drive.
*/
struct DifferentialDriveWheelVoltages {
units::volt_t left = 0_V;
units::volt_t right = 0_V;
};
} // namespace frc

28
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
View File

@@ -9,6 +9,7 @@
#include <wpi/interpolating_map.h>
#include "frc/EigenCore.h"
#include "frc/controller/DifferentialDriveWheelVoltages.h"
#include "frc/geometry/Pose2d.h"
#include "frc/system/LinearSystem.h"
#include "frc/trajectory/Trajectory.h"
@@ -31,14 +32,6 @@ namespace frc {
*/
class WPILIB_DLLEXPORT LTVDifferentialDriveController {
public:
/**
* Motor voltages for a differential drive.
*/
struct WheelVoltages {
units::volt_t left = 0_V;
units::volt_t right = 0_V;
};
/**
* Constructs a linear time-varying differential drive controller.
*
@@ -95,12 +88,11 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
* @param leftVelocityRef The desired left velocity.
* @param rightVelocityRef The desired right velocity.
*/
WheelVoltages Calculate(const Pose2d& currentPose,
units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity,
const Pose2d& poseRef,
units::meters_per_second_t leftVelocityRef,
units::meters_per_second_t rightVelocityRef);
DifferentialDriveWheelVoltages Calculate(
const Pose2d& currentPose, units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity, const Pose2d& poseRef,
units::meters_per_second_t leftVelocityRef,
units::meters_per_second_t rightVelocityRef);
/**
* Returns the left and right output voltages of the LTV controller.
@@ -114,10 +106,10 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
* @param desiredState The desired pose, linear velocity, and angular velocity
* from a trajectory.
*/
WheelVoltages Calculate(const Pose2d& currentPose,
units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity,
const Trajectory::State& desiredState);
DifferentialDriveWheelVoltages Calculate(
const Pose2d& currentPose, units::meters_per_second_t leftVelocity,
units::meters_per_second_t rightVelocity,
const Trajectory::State& desiredState);
private:
units::meter_t m_trackwidth;