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

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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
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28
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
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@@ -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;