Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-28 02:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Move CameraServer and WPILib headers into their own folder

Browse Source 
The old headers were moved into folders because doing so avoids polluting
the system include directories.

Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
2018-07-20 00:03:45 -07:00
committed by Peter Johnson
parent 31ced30c1e
commit d89b7dd412
728 changed files with 1876 additions and 1851 deletions
Download Patch File Download Diff File Expand all files Collapse all files

221
wpilibc/src/main/native/include/Drive/DifferentialDrive.h
View File

@@ -1,221 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <wpi/raw_ostream.h>
#include "Drive/RobotDriveBase.h"
namespace frc {
class SpeedController;
/**
* A class for driving differential drive/skid-steer drive platforms such as
* the Kit of Parts drive base, "tank drive", or West Coast Drive.
*
* These drive bases typically have drop-center / skid-steer with two or more
* wheels per side (e.g., 6WD or 8WD). This class takes a SpeedController per
* side. For four and six motor drivetrains, construct and pass in
* SpeedControllerGroup instances as follows.
*
* Four motor drivetrain:
* @code{.cpp}
* class Robot {
* public:
* frc::Spark m_frontLeft{1};
* frc::Spark m_rearLeft{2};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
*
* frc::Spark m_frontRight{3};
* frc::Spark m_rearRight{4};
* frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};
* };
* @endcode
*
* Six motor drivetrain:
* @code{.cpp}
* class Robot {
* public:
* frc::Spark m_frontLeft{1};
* frc::Spark m_midLeft{2};
* frc::Spark m_rearLeft{3};
* frc::SpeedControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
*
* frc::Spark m_frontRight{4};
* frc::Spark m_midRight{5};
* frc::Spark m_rearRight{6};
* frc::SpeedControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
*
* frc::DifferentialDrive m_drive{m_left, m_right};
* };
* @endcode
*
* A differential drive robot has left and right wheels separated by an
* arbitrary width.
*
* Drive base diagram:
* <pre>
* |_______|
* | | | |
* | |
* |_|___|_|
* | |
* </pre>
*
* Each Drive() function provides different inverse kinematic relations for a
* differential drive robot. Motor outputs for the right side are negated, so
* motor direction inversion by the user is usually unnecessary.
*
* This library uses the NED axes convention (North-East-Down as external
* reference in the world frame):
* http://www.nuclearprojects.com/ins/images/axis_big.png.
*
* The positive X axis points ahead, the positive Y axis points to the right,
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*
* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
*
* <p>RobotDrive porting guide:
* <br>TankDrive(double, double, bool) is equivalent to
* RobotDrive#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
* 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
* mode. However, it is not designed to give exactly the same response.
*/
class DifferentialDrive : public RobotDriveBase {
public:
static constexpr double kDefaultQuickStopThreshold = 0.2;
static constexpr double kDefaultQuickStopAlpha = 0.1;
/**
* Construct a DifferentialDrive.
*
* To pass multiple motors per side, use a SpeedControllerGroup. If a motor
* needs to be inverted, do so before passing it in.
*/
DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
~DifferentialDrive() override = default;
DifferentialDrive(const DifferentialDrive&) = delete;
DifferentialDrive& operator=(const DifferentialDrive&) = delete;
/**
* Arcade drive method for differential drive platform.
*
* Note: Some drivers may prefer inverted rotation controls. This can be done
* by negating the value passed for rotation.
*
* @param xSpeed The speed at which the robot should drive along the X
* axis [-1.0..1.0]. Forward is negative.
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void ArcadeDrive(double xSpeed, double zRotation, bool squaredInputs = true);
/**
* Curvature drive method for differential drive platform.
*
* The rotation argument controls the curvature of the robot's path rather
* than its rate of heading change. This makes the robot more controllable at
* high speeds. Also handles the robot's quick turn functionality - "quick
* turn" overrides constant-curvature turning for turn-in-place maneuvers.
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward
* is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
* @param isQuickTurn If set, overrides constant-curvature turning for
* turn-in-place maneuvers.
*/
void CurvatureDrive(double xSpeed, double zRotation, bool isQuickTurn);
/**
* Tank drive method for differential drive platform.
*
* @param leftSpeed The robot left side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squaredInputs If set, decreases the input sensitivity at low speeds.
*/
void TankDrive(double leftSpeed, double rightSpeed,
bool squaredInputs = true);
/**
* Sets the QuickStop speed threshold in curvature drive.
*
* QuickStop compensates for the robot's moment of inertia when stopping after
* a QuickTurn.
*
* While QuickTurn is enabled, the QuickStop accumulator takes on the rotation
* rate value outputted by the low-pass filter when the robot's speed along
* the X axis is below the threshold. When QuickTurn is disabled, the
* accumulator's value is applied against the computed angular power request
* to slow the robot's rotation.
*
* @param threshold X speed below which quick stop accumulator will receive
* rotation rate values [0..1.0].
*/
void SetQuickStopThreshold(double threshold);
/**
* Sets the low-pass filter gain for QuickStop in curvature drive.
*
* The low-pass filter filters incoming rotation rate commands to smooth out
* high frequency changes.
*
* @param alpha Low-pass filter gain [0.0..2.0]. Smaller values result in
* slower output changes. Values between 1.0 and 2.0 result in
* output oscillation. Values below 0.0 and above 2.0 are
* unstable.
*/
void SetQuickStopAlpha(double alpha);
/**
* Gets if the power sent to the right side of the drivetrain is multipled by
* -1.
*
* @return true if the right side is inverted
*/
bool IsRightSideInverted() const;
/**
* Sets if the power sent to the right side of the drivetrain should be
* multipled by -1.
*
* @param rightSideInverted true if right side power should be multipled by -1
*/
void SetRightSideInverted(bool rightSideInverted);
void StopMotor() override;
void GetDescription(wpi::raw_ostream& desc) const override;
void InitSendable(SendableBuilder& builder) override;
private:
SpeedController& m_leftMotor;
SpeedController& m_rightMotor;
double m_quickStopThreshold = kDefaultQuickStopThreshold;
double m_quickStopAlpha = kDefaultQuickStopAlpha;
double m_quickStopAccumulator = 0.0;
double m_rightSideInvertMultiplier = -1.0;
};
} // namespace frc