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[wpilib] Remove RobotDrive (#3295)

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This has been deprecated for several years, and its functionality has been
completely superseded by other drive classes (DifferentialDrive et al).
This commit is contained in:
Peter Johnson
2021-04-10 10:28:32 -07:00
committed by GitHub
parent 1dc81669c2
commit d7fabe81fe
13 changed files with 25 additions and 2103 deletions
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461
wpilibc/src/main/native/include/frc/RobotDrive.h
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@@ -1,461 +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.
#pragma once
#include <memory>
#include <wpi/deprecated.h>
#include <wpi/raw_ostream.h>
#include "frc/ErrorBase.h"
#include "frc/MotorSafety.h"
namespace frc {
class SpeedController;
class GenericHID;
/**
* Utility class for handling Robot drive based on a definition of the motor
* configuration.
*
* The robot drive class handles basic driving for a robot. Currently, 2 and 4
* motor tank and mecanum drive trains are supported. In the future other drive
* types like swerve might be implemented. Motor channel numbers are passed
* supplied on creation of the class. Those are used for either the Drive
* function (intended for hand created drive code, such as autonomous) or with
* the Tank/Arcade functions intended to be used for Operator Control driving.
*
* @deprecated Use DifferentialDrive or MecanumDrive classes instead.
*
*/
class RobotDrive : public MotorSafety {
public:
enum MotorType {
kFrontLeftMotor = 0,
kFrontRightMotor = 1,
kRearLeftMotor = 2,
kRearRightMotor = 3
};
/**
* Constructor for RobotDrive with 2 motors specified with channel numbers.
*
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Talons for controlling the motors.
*
* @param leftMotorChannel The PWM channel number that drives the left motor.
* 0-9 are on-board, 10-19 are on the MXP port
* @param rightMotorChannel The PWM channel number that drives the right
* motor. 0-9 are on-board, 10-19 are on the MXP port
*/
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(int leftMotorChannel, int rightMotorChannel);
/**
* Constructor for RobotDrive with 4 motors specified with channel numbers.
*
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Talons for controlling the motors.
*
* @param frontLeftMotor Front left motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
* @param rearLeftMotor Rear Left motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
* @param frontRightMotor Front right motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
* @param rearRightMotor Rear Right motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
*/
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
int frontRightMotorChannel, int rearRightMotorChannel);
/**
* Constructor for RobotDrive with 2 motors specified as SpeedController
* objects.
*
* The SpeedController version of the constructor enables programs to use the
* RobotDrive classes with subclasses of the SpeedController objects, for
* example, versions with ramping or reshaping of the curve to suit motor bias
* or deadband elimination.
*
* @param leftMotor The left SpeedController object used to drive the robot.
* @param rightMotor The right SpeedController object used to drive the robot.
*/
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(std::shared_ptr<SpeedController> leftMotor,
std::shared_ptr<SpeedController> rightMotor);
/**
* Constructor for RobotDrive with 4 motors specified as SpeedController
* objects.
*
* Speed controller input version of RobotDrive (see previous comments).
*
* @param frontLeftMotor The front left SpeedController object used to drive
* the robot.
* @param rearLeftMotor The back left SpeedController object used to drive
* the robot.
* @param frontRightMotor The front right SpeedController object used to drive
* the robot.
* @param rearRightMotor The back right SpeedController object used to drive
* the robot.
*/
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
SpeedController* frontRightMotor, SpeedController* rearRightMotor);
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
SpeedController& frontRightMotor, SpeedController& rearRightMotor);
WPI_DEPRECATED("Use DifferentialDrive or MecanumDrive classes instead.")
RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
std::shared_ptr<SpeedController> rearLeftMotor,
std::shared_ptr<SpeedController> frontRightMotor,
std::shared_ptr<SpeedController> rearRightMotor);
~RobotDrive() override = default;
RobotDrive(RobotDrive&&) = default;
RobotDrive& operator=(RobotDrive&&) = default;
/**
* Drive the motors at "outputMagnitude" and "curve".
*
* Both outputMagnitude and curve are -1.0 to +1.0 values, where 0.0
* represents stopped and not turning. curve < 0 will turn left and curve > 0
* will turn right.
*
* The algorithm for steering provides a constant turn radius for any normal
* speed range, both forward and backward. Increasing m_sensitivity causes
* sharper turns for fixed values of curve.
*
* This function will most likely be used in an autonomous routine.
*
* @param outputMagnitude The speed setting for the outside wheel in a turn,
* forward or backwards, +1 to -1.
* @param curve The rate of turn, constant for different forward
* speeds. Set curve < 0 for left turn or curve > 0 for
* right turn.
*
* Set curve = e^(-r/w) to get a turn radius r for wheelbase w of your robot.
* Conversely, turn radius r = -ln(curve)*w for a given value of curve and
* wheelbase w.
*/
void Drive(double outputMagnitude, double curve);
/**
* Provide tank steering using the stored robot configuration.
*
* Drive the robot using two joystick inputs. The Y-axis will be selected from
* each Joystick object.
*
* @param leftStick The joystick to control the left side of the robot.
* @param rightStick The joystick to control the right side of the robot.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
bool squaredInputs = true);
/**
* Provide tank steering using the stored robot configuration.
*
* Drive the robot using two joystick inputs. The Y-axis will be selected from
* each Joystick object.
*
* @param leftStick The joystick to control the left side of the robot.
* @param rightStick The joystick to control the right side of the robot.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
bool squaredInputs = true);
/**
* Provide tank steering using the stored robot configuration.
*
* This function lets you pick the axis to be used on each Joystick object for
* the left and right sides of the robot.
*
* @param leftStick The Joystick object to use for the left side of the
* robot.
* @param leftAxis The axis to select on the left side Joystick object.
* @param rightStick The Joystick object to use for the right side of the
* robot.
* @param rightAxis The axis to select on the right side Joystick object.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
int rightAxis, bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
int rightAxis, bool squaredInputs = true);
/**
* Provide tank steering using the stored robot configuration.
*
* This function lets you directly provide joystick values from any source.
*
* @param leftValue The value of the left stick.
* @param rightValue The value of the right stick.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void TankDrive(double leftValue, double rightValue,
bool squaredInputs = true);
/**
* Arcade drive implements single stick driving.
*
* Given a single Joystick, the class assumes the Y axis for the move value
* and the X axis for the rotate value. (Should add more information here
* regarding the way that arcade drive works.)
*
* @param stick The joystick to use for Arcade single-stick driving.
* The Y-axis will be selected for forwards/backwards and
* the X-axis will be selected for rotation rate.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
/**
* Arcade drive implements single stick driving.
*
* Given a single Joystick, the class assumes the Y axis for the move value
* and the X axis for the rotate value. (Should add more information here
* regarding the way that arcade drive works.)
*
* @param stick The joystick to use for Arcade single-stick driving.
* The Y-axis will be selected for forwards/backwards and
* the X-axis will be selected for rotation rate.
* @param squaredInputs If true, the sensitivity will be decreased for small
* values
*/
void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
/**
* Arcade drive implements single stick driving.
*
* Given two joystick instances and two axis, compute the values to send to
* either two or four motors.
*
* @param moveStick The Joystick object that represents the
* forward/backward direction
* @param moveAxis The axis on the moveStick object to use for
* forwards/backwards (typically Y_AXIS)
* @param rotateStick The Joystick object that represents the rotation value
* @param rotateAxis The axis on the rotation object to use for the rotate
* right/left (typically X_AXIS)
* @param squaredInputs Setting this parameter to true increases the
* sensitivity at lower speeds
*/
void ArcadeDrive(GenericHID* moveStick, int moveChannel,
GenericHID* rotateStick, int rotateChannel,
bool squaredInputs = true);
/**
* Arcade drive implements single stick driving.
*
* Given two joystick instances and two axis, compute the values to send to
* either two or four motors.
*
* @param moveStick The Joystick object that represents the
* forward/backward direction
* @param moveAxis The axis on the moveStick object to use for
* forwards/backwards (typically Y_AXIS)
* @param rotateStick The Joystick object that represents the rotation value
* @param rotateAxis The axis on the rotation object to use for the rotate
* right/left (typically X_AXIS)
* @param squaredInputs Setting this parameter to true increases the
* sensitivity at lower speeds
*/
void ArcadeDrive(GenericHID& moveStick, int moveChannel,
GenericHID& rotateStick, int rotateChannel,
bool squaredInputs = true);
/**
* Arcade drive implements single stick driving.
*
* This function lets you directly provide joystick values from any source.
*
* @param moveValue The value to use for fowards/backwards
* @param rotateValue The value to use for the rotate right/left
* @param squaredInputs If set, increases the sensitivity at low speeds
*/
void ArcadeDrive(double moveValue, double rotateValue,
bool squaredInputs = true);
/**
* Drive method for Mecanum wheeled robots.
*
* A method for driving with Mecanum wheeled robots. There are 4 wheels
* on the robot, arranged so that the front and back wheels are toed in 45
* degrees.
* When looking at the wheels from the top, the roller axles should form an X
* across the robot.
*
* This is designed to be directly driven by joystick axes.
*
* @param x The speed that the robot should drive in the X direction.
* [-1.0..1.0]
* @param y The speed that the robot should drive in the Y direction.
* This input is inverted to match the forward == -1.0 that
* joysticks produce. [-1.0..1.0]
* @param rotation The rate of rotation for the robot that is completely
* independent of the translation. [-1.0..1.0]
* @param gyroAngle The current angle reading from the gyro. Use this to
* implement field-oriented controls.
*/
void MecanumDrive_Cartesian(double x, double y, double rotation,
double gyroAngle = 0.0);
/**
* Drive method for Mecanum wheeled robots.
*
* A method for driving with Mecanum wheeled robots. There are 4 wheels
* on the robot, arranged so that the front and back wheels are toed in 45
* degrees.
* When looking at the wheels from the top, the roller axles should form an X
* across the robot.
*
* @param magnitude The speed that the robot should drive in a given
* direction. [-1.0..1.0]
* @param direction The direction the robot should drive in degrees. The
* direction and maginitute are independent of the rotation
* rate.
* @param rotation The rate of rotation for the robot that is completely
* independent of the magnitute or direction. [-1.0..1.0]
*/
void MecanumDrive_Polar(double magnitude, double direction, double rotation);
/**
* Holonomic Drive method for Mecanum wheeled robots.
*
* This is an alias to MecanumDrive_Polar() for backward compatibility
*
* @param magnitude The speed that the robot should drive in a given
* direction. [-1.0..1.0]
* @param direction The direction the robot should drive. The direction and
* magnitude are independent of the rotation rate.
* @param rotation The rate of rotation for the robot that is completely
* independent of the magnitude or direction. [-1.0..1.0]
*/
void HolonomicDrive(double magnitude, double direction, double rotation);
/**
* Set the speed of the right and left motors.
*
* This is used once an appropriate drive setup function is called such as
* TwoWheelDrive(). The motors are set to "leftOutput" and "rightOutput"
* and includes flipping the direction of one side for opposing motors.
*
* @param leftOutput The speed to send to the left side of the robot.
* @param rightOutput The speed to send to the right side of the robot.
*/
virtual void SetLeftRightMotorOutputs(double leftOutput, double rightOutput);
/*
* Invert a motor direction.
*
* This is used when a motor should run in the opposite direction as the drive
* code would normally run it. Motors that are direct drive would be inverted,
* the Drive code assumes that the motors are geared with one reversal.
*
* @param motor The motor index to invert.
* @param isInverted True if the motor should be inverted when operated.
*/
void SetInvertedMotor(MotorType motor, bool isInverted);
/**
* Set the turning sensitivity.
*
* This only impacts the Drive() entry-point.
*
* @param sensitivity Effectively sets the turning sensitivity (or turn radius
* for a given value)
*/
void SetSensitivity(double sensitivity);
/**
* Configure the scaling factor for using RobotDrive with motor controllers in
* a mode other than PercentVbus.
*
* @param maxOutput Multiplied with the output percentage computed by the
* drive functions.
*/
void SetMaxOutput(double maxOutput);
void StopMotor() override;
void GetDescription(wpi::raw_ostream& desc) const override;
protected:
/**
* Common function to initialize all the robot drive constructors.
*
* Create a motor safety object (the real reason for the common code) and
* initialize all the motor assignments. The default timeout is set for the
* robot drive.
*/
void InitRobotDrive();
/**
* Limit motor values to the -1.0 to +1.0 range.
*/
double Limit(double number);
/**
* Normalize all wheel speeds if the magnitude of any wheel is greater than
* 1.0.
*/
void Normalize(double* wheelSpeeds);
/**
* Rotate a vector in Cartesian space.
*/
void RotateVector(double& x, double& y, double angle);
static constexpr int kMaxNumberOfMotors = 4;
double m_sensitivity = 0.5;
double m_maxOutput = 1.0;
std::shared_ptr<SpeedController> m_frontLeftMotor;
std::shared_ptr<SpeedController> m_frontRightMotor;
std::shared_ptr<SpeedController> m_rearLeftMotor;
std::shared_ptr<SpeedController> m_rearRightMotor;
private:
int GetNumMotors() {
int motors = 0;
if (m_frontLeftMotor) {
motors++;
}
if (m_frontRightMotor) {
motors++;
}
if (m_rearLeftMotor) {
motors++;
}
if (m_rearRightMotor) {
motors++;
}
return motors;
}
};
} // namespace frc

6
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -87,12 +87,12 @@ class SpeedController;
*
* <p>RobotDrive porting guide:
* <br>TankDrive(double, double, bool) is equivalent to
* RobotDrive#TankDrive(double, double, bool) if a deadband of 0 is used.
* RobotDrive's TankDrive(double, double, bool) if a deadband of 0 is used.
* <br>ArcadeDrive(double, double, bool) is equivalent to
* RobotDrive#ArcadeDrive(double, double, bool) if a deadband of 0 is used
* RobotDrive's ArcadeDrive(double, double, bool) if a deadband of 0 is used
* and the the rotation input is inverted eg ArcadeDrive(y, -rotation, false)
* <br>CurvatureDrive(double, double, bool) is similar in concept to
* RobotDrive#Drive(double, double) with the addition of a quick turn
* RobotDrive's Drive(double, double) with the addition of a quick turn
* mode. However, it is not designed to give exactly the same response.
*/
class DifferentialDrive : public RobotDriveBase,

4
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -53,12 +53,12 @@ class SpeedController;
* inverted, while in RobotDrive, no speed controllers are automatically
* inverted.
* <br>DriveCartesian(double, double, double, double) is equivalent to
* RobotDrive#MecanumDrive_Cartesian(double, double, double, double)
* RobotDrive's MecanumDrive_Cartesian(double, double, double, double)
* if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted
* compared to RobotDrive (eg DriveCartesian(xSpeed, -ySpeed, zRotation,
* -gyroAngle).
* <br>DrivePolar(double, double, double) is equivalent to
* RobotDrive#MecanumDrive_Polar(double, double, double) if a
* RobotDrive's MecanumDrive_Polar(double, double, double) if a
* deadband of 0 is used.
*/
class MecanumDrive : public RobotDriveBase,