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[wpilib] Remove RobotDrive (#3295)
This has been deprecated for several years, and its functionality has been completely superseded by other drive classes (DifferentialDrive et al).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
@@ -1,719 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
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import edu.wpi.first.hal.FRCNetComm.tInstances;
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import edu.wpi.first.hal.FRCNetComm.tResourceType;
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import edu.wpi.first.hal.HAL;
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/**
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* Utility class for handling Robot drive based on a definition of the motor configuration. The
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* robot drive class handles basic driving for a robot. Currently, 2 and 4 motor tank and mecanum
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* drive trains are supported. In the future other drive types like swerve might be implemented.
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* Motor channel numbers are supplied on creation of the class. Those are used for either the drive
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* function (intended for hand created drive code, such as autonomous) or with the Tank/Arcade
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* functions intended to be used for Operator Control driving.
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*
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* @deprecated Use {@link edu.wpi.first.wpilibj.drive.DifferentialDrive} or {@link
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* edu.wpi.first.wpilibj.drive.MecanumDrive} classes instead.
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*/
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@Deprecated
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@SuppressWarnings("PMD.GodClass")
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public class RobotDrive extends MotorSafety implements AutoCloseable {
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/** The location of a motor on the robot for the purpose of driving. */
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public enum MotorType {
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kFrontLeft(0),
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kFrontRight(1),
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kRearLeft(2),
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kRearRight(3);
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public final int value;
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MotorType(int value) {
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this.value = value;
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}
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}
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public static final double kDefaultExpirationTime = 0.1;
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public static final double kDefaultSensitivity = 0.5;
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public static final double kDefaultMaxOutput = 1.0;
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protected static final int kMaxNumberOfMotors = 4;
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protected double m_sensitivity;
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protected double m_maxOutput;
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protected SpeedController m_frontLeftMotor;
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protected SpeedController m_frontRightMotor;
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protected SpeedController m_rearLeftMotor;
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protected SpeedController m_rearRightMotor;
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protected boolean m_allocatedSpeedControllers;
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protected static boolean kArcadeRatioCurve_Reported;
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protected static boolean kTank_Reported;
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protected static boolean kArcadeStandard_Reported;
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protected static boolean kMecanumCartesian_Reported;
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protected static boolean kMecanumPolar_Reported;
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/**
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* Constructor for RobotDrive with 2 motors specified with channel numbers. Set up parameters for
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* a two wheel drive system where the left and right motor pwm channels are specified in the call.
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* This call assumes Talons for controlling the motors.
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*
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* @param leftMotorChannel The PWM channel number that drives the left motor.
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* @param rightMotorChannel The PWM channel number that drives the right motor.
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*/
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public RobotDrive(final int leftMotorChannel, final int rightMotorChannel) {
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m_sensitivity = kDefaultSensitivity;
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m_maxOutput = kDefaultMaxOutput;
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m_frontLeftMotor = null;
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m_rearLeftMotor = new Talon(leftMotorChannel);
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m_frontRightMotor = null;
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m_rearRightMotor = new Talon(rightMotorChannel);
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m_allocatedSpeedControllers = true;
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setSafetyEnabled(true);
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drive(0, 0);
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}
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/**
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* Constructor for RobotDrive with 4 motors specified with channel numbers. Set up parameters for
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* a four wheel drive system where all four motor pwm channels are specified in the call. This
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* call assumes Talons for controlling the motors.
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*
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* @param frontLeftMotor Front left motor channel number
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* @param rearLeftMotor Rear Left motor channel number
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* @param frontRightMotor Front right motor channel number
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* @param rearRightMotor Rear Right motor channel number
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*/
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public RobotDrive(
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final int frontLeftMotor,
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final int rearLeftMotor,
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final int frontRightMotor,
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final int rearRightMotor) {
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m_sensitivity = kDefaultSensitivity;
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m_maxOutput = kDefaultMaxOutput;
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m_rearLeftMotor = new Talon(rearLeftMotor);
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m_rearRightMotor = new Talon(rearRightMotor);
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m_frontLeftMotor = new Talon(frontLeftMotor);
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m_frontRightMotor = new Talon(frontRightMotor);
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m_allocatedSpeedControllers = true;
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setSafetyEnabled(true);
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drive(0, 0);
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}
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/**
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* Constructor for RobotDrive with 2 motors specified as SpeedController objects. The
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* SpeedController version of the constructor enables programs to use the RobotDrive classes with
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* subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
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* the curve to suit motor bias or dead-band elimination.
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*
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* @param leftMotor The left SpeedController object used to drive the robot.
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* @param rightMotor the right SpeedController object used to drive the robot.
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*/
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public RobotDrive(SpeedController leftMotor, SpeedController rightMotor) {
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requireNonNullParam(leftMotor, "leftMotor", "RobotDrive");
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requireNonNullParam(rightMotor, "rightMotor", "RobotDrive");
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m_frontLeftMotor = null;
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m_rearLeftMotor = leftMotor;
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m_frontRightMotor = null;
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m_rearRightMotor = rightMotor;
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m_sensitivity = kDefaultSensitivity;
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m_maxOutput = kDefaultMaxOutput;
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m_allocatedSpeedControllers = false;
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setSafetyEnabled(true);
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drive(0, 0);
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}
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/**
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* Constructor for RobotDrive with 4 motors specified as SpeedController objects. Speed controller
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* input version of RobotDrive (see previous comments).
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*
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* @param frontLeftMotor The front left SpeedController object used to drive the robot
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* @param rearLeftMotor The back left SpeedController object used to drive the robot.
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* @param frontRightMotor The front right SpeedController object used to drive the robot.
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* @param rearRightMotor The back right SpeedController object used to drive the robot.
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*/
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public RobotDrive(
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SpeedController frontLeftMotor,
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SpeedController rearLeftMotor,
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SpeedController frontRightMotor,
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SpeedController rearRightMotor) {
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m_frontLeftMotor = requireNonNullParam(frontLeftMotor, "frontLeftMotor", "RobotDrive");
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m_rearLeftMotor = requireNonNullParam(rearLeftMotor, "rearLeftMotor", "RobotDrive");
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m_frontRightMotor = requireNonNullParam(frontRightMotor, "frontRightMotor", "RobotDrive");
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m_rearRightMotor = requireNonNullParam(rearRightMotor, "rearRightMotor", "RobotDrive");
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m_sensitivity = kDefaultSensitivity;
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m_maxOutput = kDefaultMaxOutput;
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m_allocatedSpeedControllers = false;
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setSafetyEnabled(true);
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drive(0, 0);
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}
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/**
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* Drive the motors at "outputMagnitude" and "curve". Both outputMagnitude and curve are -1.0 to
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* +1.0 values, where 0.0 represents stopped and not turning. {@literal curve < 0 will turn left
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* and curve > 0} will turn right.
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*
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* <p>The algorithm for steering provides a constant turn radius for any normal speed range, both
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* forward and backward. Increasing sensitivity causes sharper turns for fixed values of curve.
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*
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* <p>This function will most likely be used in an autonomous routine.
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*
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* @param outputMagnitude The speed setting for the outside wheel in a turn, forward or backwards,
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* +1 to -1.
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* @param curve The rate of turn, constant for different forward speeds. Set {@literal curve < 0
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* for left turn or curve > 0 for right turn.} Set curve = e^(-r/w) to get a turn radius r for
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* wheelbase w of your robot. Conversely, turn radius r = -ln(curve)*w for a given value of
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* curve and wheelbase w.
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*/
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public void drive(double outputMagnitude, double curve) {
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final double leftOutput;
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final double rightOutput;
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if (!kArcadeRatioCurve_Reported) {
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HAL.report(
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tResourceType.kResourceType_RobotDrive,
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tInstances.kRobotDrive_ArcadeRatioCurve,
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getNumMotors());
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kArcadeRatioCurve_Reported = true;
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}
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if (curve < 0) {
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double value = Math.log(-curve);
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double ratio = (value - m_sensitivity) / (value + m_sensitivity);
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if (ratio == 0) {
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ratio = 0.0000000001;
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}
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leftOutput = outputMagnitude / ratio;
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rightOutput = outputMagnitude;
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} else if (curve > 0) {
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double value = Math.log(curve);
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double ratio = (value - m_sensitivity) / (value + m_sensitivity);
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if (ratio == 0) {
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ratio = 0.0000000001;
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}
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leftOutput = outputMagnitude;
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rightOutput = outputMagnitude / ratio;
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} else {
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leftOutput = outputMagnitude;
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rightOutput = outputMagnitude;
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}
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setLeftRightMotorOutputs(leftOutput, rightOutput);
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}
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/**
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* Provide tank steering using the stored robot configuration. drive the robot using two joystick
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* inputs. The Y-axis will be selected from each Joystick object. The calculated values will be
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* squared to decrease sensitivity at low speeds.
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*
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* @param leftStick The joystick to control the left side of the robot.
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* @param rightStick The joystick to control the right side of the robot.
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*/
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public void tankDrive(GenericHID leftStick, GenericHID rightStick) {
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requireNonNullParam(leftStick, "leftStick", "tankDrive");
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requireNonNullParam(rightStick, "rightStick", "tankDrive");
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tankDrive(leftStick.getY(), rightStick.getY(), true);
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}
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/**
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* Provide tank steering using the stored robot configuration. drive the robot using two joystick
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* inputs. The Y-axis will be selected from each Joystick object.
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*
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* @param leftStick The joystick to control the left side of the robot.
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* @param rightStick The joystick to control the right side of the robot.
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* @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
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*/
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public void tankDrive(GenericHID leftStick, GenericHID rightStick, boolean squaredInputs) {
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requireNonNullParam(leftStick, "leftStick", "tankDrive");
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requireNonNullParam(rightStick, "rightStick", "tankDrive");
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tankDrive(leftStick.getY(), rightStick.getY(), squaredInputs);
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}
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/**
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* Provide tank steering using the stored robot configuration. This function lets you pick the
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* axis to be used on each Joystick object for the left and right sides of the robot. The
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* calculated values will be squared to decrease sensitivity at low speeds.
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*
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* @param leftStick The Joystick object to use for the left side of the robot.
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* @param leftAxis The axis to select on the left side Joystick object.
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* @param rightStick The Joystick object to use for the right side of the robot.
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* @param rightAxis The axis to select on the right side Joystick object.
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*/
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public void tankDrive(
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GenericHID leftStick, final int leftAxis, GenericHID rightStick, final int rightAxis) {
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requireNonNullParam(leftStick, "leftStick", "tankDrive");
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requireNonNullParam(rightStick, "rightStick", "tankDrive");
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tankDrive(leftStick.getRawAxis(leftAxis), rightStick.getRawAxis(rightAxis), true);
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}
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/**
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* Provide tank steering using the stored robot configuration. This function lets you pick the
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* axis to be used on each Joystick object for the left and right sides of the robot.
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*
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* @param leftStick The Joystick object to use for the left side of the robot.
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* @param leftAxis The axis to select on the left side Joystick object.
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* @param rightStick The Joystick object to use for the right side of the robot.
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* @param rightAxis The axis to select on the right side Joystick object.
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* @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
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*/
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public void tankDrive(
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GenericHID leftStick,
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final int leftAxis,
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GenericHID rightStick,
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final int rightAxis,
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boolean squaredInputs) {
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requireNonNullParam(leftStick, "leftStick", "tankDrive");
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requireNonNullParam(rightStick, "rightStick", "tankDrive");
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tankDrive(leftStick.getRawAxis(leftAxis), rightStick.getRawAxis(rightAxis), squaredInputs);
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}
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/**
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* Provide tank steering using the stored robot configuration. This function lets you directly
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* provide joystick values from any source.
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*
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* @param leftValue The value of the left stick.
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* @param rightValue The value of the right stick.
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* @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
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*/
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public void tankDrive(double leftValue, double rightValue, boolean squaredInputs) {
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if (!kTank_Reported) {
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HAL.report(
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tResourceType.kResourceType_RobotDrive, tInstances.kRobotDrive_Tank, getNumMotors());
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kTank_Reported = true;
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}
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leftValue = limit(leftValue);
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rightValue = limit(rightValue);
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// square the inputs (while preserving the sign) to increase fine control
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// while permitting full power
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if (squaredInputs) {
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leftValue = Math.copySign(leftValue * leftValue, leftValue);
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rightValue = Math.copySign(rightValue * rightValue, rightValue);
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}
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setLeftRightMotorOutputs(leftValue, rightValue);
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}
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/**
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* Provide tank steering using the stored robot configuration. This function lets you directly
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* provide joystick values from any source. The calculated values will be squared to decrease
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* sensitivity at low speeds.
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*
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* @param leftValue The value of the left stick.
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* @param rightValue The value of the right stick.
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*/
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public void tankDrive(double leftValue, double rightValue) {
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tankDrive(leftValue, rightValue, true);
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}
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/**
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* Arcade drive implements single stick driving. Given a single Joystick, the class assumes the Y
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* axis for the move value and the X axis for the rotate value. (Should add more information here
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* regarding the way that arcade drive works.)
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*
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* @param stick The joystick to use for Arcade single-stick driving. The Y-axis will be selected
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* for forwards/backwards and the X-axis will be selected for rotation rate.
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* @param squaredInputs If true, the sensitivity will be decreased for small values
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*/
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public void arcadeDrive(GenericHID stick, boolean squaredInputs) {
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// simply call the full-featured arcadeDrive with the appropriate values
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arcadeDrive(stick.getY(), stick.getX(), squaredInputs);
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}
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/**
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* Arcade drive implements single stick driving. Given a single Joystick, the class assumes the Y
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* axis for the move value and the X axis for the rotate value. (Should add more information here
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* regarding the way that arcade drive works.) The calculated values will be squared to decrease
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* sensitivity at low speeds.
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*
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* @param stick The joystick to use for Arcade single-stick driving. The Y-axis will be selected
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* for forwards/backwards and the X-axis will be selected for rotation rate.
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*/
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public void arcadeDrive(GenericHID stick) {
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arcadeDrive(stick, true);
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}
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/**
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* Arcade drive implements single stick driving. Given two joystick instances and two axis,
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* compute the values to send to either two or four motors.
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*
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* @param moveStick The Joystick object that represents the forward/backward direction
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* @param moveAxis The axis on the moveStick object to use for forwards/backwards (typically
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* Y_AXIS)
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* @param rotateStick The Joystick object that represents the rotation value
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* @param rotateAxis The axis on the rotation object to use for the rotate right/left (typically
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* X_AXIS)
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* @param squaredInputs Setting this parameter to true decreases the sensitivity at lower speeds
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*/
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public void arcadeDrive(
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GenericHID moveStick,
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final int moveAxis,
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GenericHID rotateStick,
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final int rotateAxis,
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boolean squaredInputs) {
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double moveValue = moveStick.getRawAxis(moveAxis);
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double rotateValue = rotateStick.getRawAxis(rotateAxis);
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arcadeDrive(moveValue, rotateValue, squaredInputs);
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}
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/**
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* Arcade drive implements single stick driving. Given two joystick instances and two axis,
|
||||
* compute the values to send to either two or four motors. The calculated values will be squared
|
||||
* to decrease sensitivity at low speeds.
|
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*
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* @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
|
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* Y_AXIS)
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* @param rotateStick The Joystick object that represents the rotation value
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* @param rotateAxis The axis on the rotation object to use for the rotate right/left (typically
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* X_AXIS)
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*/
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public void arcadeDrive(
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GenericHID moveStick, final int moveAxis, GenericHID rotateStick, final int rotateAxis) {
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arcadeDrive(moveStick, moveAxis, rotateStick, rotateAxis, true);
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}
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|
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/**
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* Arcade drive implements single stick driving. This function lets you directly provide joystick
|
||||
* values from any source.
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*
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* @param moveValue The value to use for forwards/backwards
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* @param rotateValue The value to use for the rotate right/left
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* @param squaredInputs If set, decreases the sensitivity at low speeds
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*/
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public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs) {
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// local variables to hold the computed PWM values for the motors
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if (!kArcadeStandard_Reported) {
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HAL.report(
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tResourceType.kResourceType_RobotDrive,
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tInstances.kRobotDrive_ArcadeStandard,
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getNumMotors());
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kArcadeStandard_Reported = true;
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}
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double leftMotorSpeed;
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double rightMotorSpeed;
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moveValue = limit(moveValue);
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rotateValue = limit(rotateValue);
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// square the inputs (while preserving the sign) to increase fine control
|
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// while permitting full power
|
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if (squaredInputs) {
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// square the inputs (while preserving the sign) to increase fine control
|
||||
// while permitting full power
|
||||
moveValue = Math.copySign(moveValue * moveValue, moveValue);
|
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rotateValue = Math.copySign(rotateValue * rotateValue, rotateValue);
|
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}
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|
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if (moveValue > 0.0) {
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if (rotateValue > 0.0) {
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leftMotorSpeed = moveValue - rotateValue;
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rightMotorSpeed = Math.max(moveValue, rotateValue);
|
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} else {
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leftMotorSpeed = Math.max(moveValue, -rotateValue);
|
||||
rightMotorSpeed = moveValue + rotateValue;
|
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}
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} else {
|
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if (rotateValue > 0.0) {
|
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leftMotorSpeed = -Math.max(-moveValue, rotateValue);
|
||||
rightMotorSpeed = moveValue + rotateValue;
|
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} else {
|
||||
leftMotorSpeed = moveValue - rotateValue;
|
||||
rightMotorSpeed = -Math.max(-moveValue, -rotateValue);
|
||||
}
|
||||
}
|
||||
|
||||
setLeftRightMotorOutputs(leftMotorSpeed, rightMotorSpeed);
|
||||
}
|
||||
|
||||
/**
|
||||
* Arcade drive implements single stick driving. This function lets you directly provide joystick
|
||||
* values from any source. The calculated values will be squared to decrease sensitivity at low
|
||||
* speeds.
|
||||
*
|
||||
* @param moveValue The value to use for forwards/backwards
|
||||
* @param rotateValue The value to use for the rotate right/left
|
||||
*/
|
||||
public void arcadeDrive(double moveValue, double rotateValue) {
|
||||
arcadeDrive(moveValue, rotateValue, true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Drive method for Mecanum wheeled robots.
|
||||
*
|
||||
* <p>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.
|
||||
*
|
||||
* <p>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.
|
||||
*/
|
||||
public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
|
||||
if (!kMecanumCartesian_Reported) {
|
||||
HAL.report(
|
||||
tResourceType.kResourceType_RobotDrive,
|
||||
tInstances.kRobotDrive_MecanumCartesian,
|
||||
getNumMotors());
|
||||
kMecanumCartesian_Reported = true;
|
||||
}
|
||||
// Negate y for the joystick.
|
||||
y = -y;
|
||||
// Compensate for gyro angle.
|
||||
double[] rotated = rotateVector(x, y, gyroAngle);
|
||||
x = rotated[0];
|
||||
y = rotated[1];
|
||||
|
||||
double[] wheelSpeeds = new double[kMaxNumberOfMotors];
|
||||
wheelSpeeds[MotorType.kFrontLeft.value] = x + y + rotation;
|
||||
wheelSpeeds[MotorType.kFrontRight.value] = -x + y - rotation;
|
||||
wheelSpeeds[MotorType.kRearLeft.value] = -x + y + rotation;
|
||||
wheelSpeeds[MotorType.kRearRight.value] = x + y - rotation;
|
||||
|
||||
normalize(wheelSpeeds);
|
||||
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft.value] * m_maxOutput);
|
||||
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput);
|
||||
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft.value] * m_maxOutput);
|
||||
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput);
|
||||
|
||||
feed();
|
||||
}
|
||||
|
||||
/**
|
||||
* Drive method for Mecanum wheeled robots.
|
||||
*
|
||||
* <p>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 angle the robot should drive in degrees. The direction and magnitude are
|
||||
* independent of the rotation rate. [-180.0..180.0]
|
||||
* @param rotation The rate of rotation for the robot that is completely independent of the
|
||||
* magnitude or direction. [-1.0..1.0]
|
||||
*/
|
||||
public void mecanumDrive_Polar(double magnitude, double direction, double rotation) {
|
||||
if (!kMecanumPolar_Reported) {
|
||||
HAL.report(
|
||||
tResourceType.kResourceType_RobotDrive,
|
||||
tInstances.kRobotDrive_MecanumPolar,
|
||||
getNumMotors());
|
||||
kMecanumPolar_Reported = true;
|
||||
}
|
||||
// Normalized for full power along the Cartesian axes.
|
||||
magnitude = limit(magnitude) * Math.sqrt(2.0);
|
||||
// The rollers are at 45 degree angles.
|
||||
double dirInRad = (direction + 45.0) * Math.PI / 180.0;
|
||||
double cosD = Math.cos(dirInRad);
|
||||
double sinD = Math.sin(dirInRad);
|
||||
|
||||
double[] wheelSpeeds = new double[kMaxNumberOfMotors];
|
||||
wheelSpeeds[MotorType.kFrontLeft.value] = sinD * magnitude + rotation;
|
||||
wheelSpeeds[MotorType.kFrontRight.value] = cosD * magnitude - rotation;
|
||||
wheelSpeeds[MotorType.kRearLeft.value] = cosD * magnitude + rotation;
|
||||
wheelSpeeds[MotorType.kRearRight.value] = sinD * magnitude - rotation;
|
||||
|
||||
normalize(wheelSpeeds);
|
||||
|
||||
m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft.value] * m_maxOutput);
|
||||
m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput);
|
||||
m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft.value] * m_maxOutput);
|
||||
m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput);
|
||||
|
||||
feed();
|
||||
}
|
||||
|
||||
/**
|
||||
* Holonomic Drive method for Mecanum wheeled robots.
|
||||
*
|
||||
* <p>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 maginitude 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 holonomicDrive(double magnitude, double direction, double rotation) {
|
||||
mecanumDrive_Polar(magnitude, direction, 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 "leftSpeed" and "rightSpeed"
|
||||
* 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.
|
||||
*/
|
||||
public void setLeftRightMotorOutputs(double leftOutput, double rightOutput) {
|
||||
|
||||
if (m_frontLeftMotor != null) {
|
||||
m_frontLeftMotor.set(limit(leftOutput) * m_maxOutput);
|
||||
}
|
||||
m_rearLeftMotor.set(limit(leftOutput) * m_maxOutput);
|
||||
|
||||
if (m_frontRightMotor != null) {
|
||||
m_frontRightMotor.set(-limit(rightOutput) * m_maxOutput);
|
||||
}
|
||||
m_rearRightMotor.set(-limit(rightOutput) * m_maxOutput);
|
||||
|
||||
feed();
|
||||
}
|
||||
|
||||
/** Limit motor values to the -1.0 to +1.0 range. */
|
||||
protected static double limit(double number) {
|
||||
if (number > 1.0) {
|
||||
return 1.0;
|
||||
}
|
||||
if (number < -1.0) {
|
||||
return -1.0;
|
||||
}
|
||||
return number;
|
||||
}
|
||||
|
||||
/** Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. */
|
||||
protected static void normalize(double[] wheelSpeeds) {
|
||||
double maxMagnitude = Math.abs(wheelSpeeds[0]);
|
||||
for (int i = 1; i < kMaxNumberOfMotors; i++) {
|
||||
double temp = Math.abs(wheelSpeeds[i]);
|
||||
if (maxMagnitude < temp) {
|
||||
maxMagnitude = temp;
|
||||
}
|
||||
}
|
||||
if (maxMagnitude > 1.0) {
|
||||
for (int i = 0; i < kMaxNumberOfMotors; i++) {
|
||||
wheelSpeeds[i] = wheelSpeeds[i] / maxMagnitude;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/** Rotate a vector in Cartesian space. */
|
||||
protected static double[] rotateVector(double x, double y, double angle) {
|
||||
double cosA = Math.cos(angle * (Math.PI / 180.0));
|
||||
double sinA = Math.sin(angle * (Math.PI / 180.0));
|
||||
double[] out = new double[2];
|
||||
out[0] = x * cosA - y * sinA;
|
||||
out[1] = x * sinA + y * cosA;
|
||||
return out;
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
public void setInvertedMotor(MotorType motor, boolean isInverted) {
|
||||
switch (motor) {
|
||||
case kFrontLeft:
|
||||
m_frontLeftMotor.setInverted(isInverted);
|
||||
break;
|
||||
case kFrontRight:
|
||||
m_frontRightMotor.setInverted(isInverted);
|
||||
break;
|
||||
case kRearLeft:
|
||||
m_rearLeftMotor.setInverted(isInverted);
|
||||
break;
|
||||
case kRearRight:
|
||||
m_rearRightMotor.setInverted(isInverted);
|
||||
break;
|
||||
default:
|
||||
throw new IllegalArgumentException("Illegal motor type: " + motor);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the turning sensitivity.
|
||||
*
|
||||
* <p>This only impacts the drive() entry-point.
|
||||
*
|
||||
* @param sensitivity Effectively sets the turning sensitivity (or turn radius for a given value)
|
||||
*/
|
||||
public void setSensitivity(double sensitivity) {
|
||||
m_sensitivity = 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.
|
||||
*/
|
||||
public void setMaxOutput(double maxOutput) {
|
||||
m_maxOutput = maxOutput;
|
||||
}
|
||||
|
||||
/** Free the speed controllers if they were allocated locally. */
|
||||
@Override
|
||||
public void close() {
|
||||
if (m_allocatedSpeedControllers) {
|
||||
if (m_frontLeftMotor != null) {
|
||||
((PWM) m_frontLeftMotor).close();
|
||||
}
|
||||
if (m_frontRightMotor != null) {
|
||||
((PWM) m_frontRightMotor).close();
|
||||
}
|
||||
if (m_rearLeftMotor != null) {
|
||||
((PWM) m_rearLeftMotor).close();
|
||||
}
|
||||
if (m_rearRightMotor != null) {
|
||||
((PWM) m_rearRightMotor).close();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getDescription() {
|
||||
return "Robot Drive";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void stopMotor() {
|
||||
if (m_frontLeftMotor != null) {
|
||||
m_frontLeftMotor.stopMotor();
|
||||
}
|
||||
if (m_frontRightMotor != null) {
|
||||
m_frontRightMotor.stopMotor();
|
||||
}
|
||||
if (m_rearLeftMotor != null) {
|
||||
m_rearLeftMotor.stopMotor();
|
||||
}
|
||||
if (m_rearRightMotor != null) {
|
||||
m_rearRightMotor.stopMotor();
|
||||
}
|
||||
|
||||
feed();
|
||||
}
|
||||
|
||||
protected int getNumMotors() {
|
||||
int motors = 0;
|
||||
if (m_frontLeftMotor != null) {
|
||||
motors++;
|
||||
}
|
||||
if (m_frontRightMotor != null) {
|
||||
motors++;
|
||||
}
|
||||
if (m_rearLeftMotor != null) {
|
||||
motors++;
|
||||
}
|
||||
if (m_rearRightMotor != null) {
|
||||
motors++;
|
||||
}
|
||||
return motors;
|
||||
}
|
||||
}
|
||||
@@ -86,14 +86,13 @@ import java.util.StringJoiner;
|
||||
* value can be changed with {@link #setDeadband}.
|
||||
*
|
||||
* <p>RobotDrive porting guide: <br>
|
||||
* {@link #tankDrive(double, double)} is equivalent to {@link
|
||||
* edu.wpi.first.wpilibj.RobotDrive#tankDrive(double, double)} if a deadband of 0 is used. <br>
|
||||
* {@link #arcadeDrive(double, double)} is equivalent to {@link
|
||||
* edu.wpi.first.wpilibj.RobotDrive#arcadeDrive(double, double)} if a deadband of 0 is used and the
|
||||
* the rotation input is inverted eg arcadeDrive(y, -rotation) <br>
|
||||
* {@link #curvatureDrive(double, double, boolean)} is similar in concept to {@link
|
||||
* edu.wpi.first.wpilibj.RobotDrive#drive(double, double)} with the addition of a quick turn mode.
|
||||
* However, it is not designed to give exactly the same response.
|
||||
* {@link #tankDrive(double, double)} is equivalent to RobotDrive's tankDrive(double, double) if a
|
||||
* deadband of 0 is used. <br>
|
||||
* {@link #arcadeDrive(double, double)} is equivalent to RobotDrive's arcadeDrive(double, double) if
|
||||
* a deadband of 0 is used and the the rotation input is inverted eg arcadeDrive(y, -rotation) <br>
|
||||
* {@link #curvatureDrive(double, double, boolean)} is similar in concept to RobotDrive's
|
||||
* drive(double, double) with the addition of a quick turn mode. However, it is not designed to give
|
||||
* exactly the same response.
|
||||
*/
|
||||
public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoCloseable {
|
||||
public static final double kDefaultQuickStopThreshold = 0.2;
|
||||
|
||||
@@ -50,13 +50,12 @@ import java.util.StringJoiner;
|
||||
* <p>RobotDrive porting guide: <br>
|
||||
* In MecanumDrive, the right side speed controllers are automatically inverted, while in
|
||||
* RobotDrive, no speed controllers are automatically inverted. <br>
|
||||
* {@link #driveCartesian(double, double, double, double)} is equivalent to {@link
|
||||
* edu.wpi.first.wpilibj.RobotDrive#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>
|
||||
* {@link #drivePolar(double, double, double)} is equivalent to {@link
|
||||
* edu.wpi.first.wpilibj.RobotDrive#mecanumDrive_Polar(double, double, double)} if a deadband of 0
|
||||
* is used.
|
||||
* {@link #driveCartesian(double, double, double, double)} is equivalent to 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>
|
||||
* {@link #drivePolar(double, double, double)} is equivalent to RobotDrive's
|
||||
* mecanumDrive_Polar(double, double, double)} if a deadband of 0 is used.
|
||||
*/
|
||||
public class MecanumDrive extends RobotDriveBase implements Sendable, AutoCloseable {
|
||||
private static int instances;
|
||||
|
||||
Reference in New Issue
Block a user