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Update to 2018_v4 image and new build system. (#598)

Browse Source 
* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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125
wpilibc/src/main/native/include/RobotDrive.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2017. 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 <memory>
#include "ErrorBase.h"
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"
#include "llvm/raw_ostream.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.
*/
class RobotDrive : public MotorSafety, public ErrorBase {
public:
enum MotorType {
kFrontLeftMotor = 0,
kFrontRightMotor = 1,
kRearLeftMotor = 2,
kRearRightMotor = 3
};
RobotDrive(int leftMotorChannel, int rightMotorChannel);
RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
int frontRightMotorChannel, int rearRightMotorChannel);
RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
RobotDrive(std::shared_ptr<SpeedController> leftMotor,
std::shared_ptr<SpeedController> rightMotor);
RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
SpeedController* frontRightMotor, SpeedController* rearRightMotor);
RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
SpeedController& frontRightMotor, SpeedController& rearRightMotor);
RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
std::shared_ptr<SpeedController> rearLeftMotor,
std::shared_ptr<SpeedController> frontRightMotor,
std::shared_ptr<SpeedController> rearRightMotor);
virtual ~RobotDrive() = default;
RobotDrive(const RobotDrive&) = delete;
RobotDrive& operator=(const RobotDrive&) = delete;
void Drive(double outputMagnitude, double curve);
void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
bool squaredInputs = true);
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);
void TankDrive(double leftValue, double rightValue,
bool squaredInputs = true);
void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID* moveStick, int moveChannel,
GenericHID* rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(GenericHID& moveStick, int moveChannel,
GenericHID& rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(double moveValue, double rotateValue,
bool squaredInputs = true);
void MecanumDrive_Cartesian(double x, double y, double rotation,
double gyroAngle = 0.0);
void MecanumDrive_Polar(double magnitude, double direction, double rotation);
void HolonomicDrive(double magnitude, double direction, double rotation);
virtual void SetLeftRightMotorOutputs(double leftOutput, double rightOutput);
void SetInvertedMotor(MotorType motor, bool isInverted);
void SetSensitivity(double sensitivity);
void SetMaxOutput(double maxOutput);
void SetExpiration(double timeout) override;
double GetExpiration() const override;
bool IsAlive() const override;
void StopMotor() override;
bool IsSafetyEnabled() const override;
void SetSafetyEnabled(bool enabled) override;
void GetDescription(llvm::raw_ostream& desc) const override;
protected:
void InitRobotDrive();
double Limit(double number);
void Normalize(double* wheelSpeeds);
void RotateVector(double& x, double& y, double angle);
static const 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;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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