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[wpilib] Add functional interface equivalents to MotorController (#6053)

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This does not deprecate any current functionality, but prepares the way for future deprecation.

The drive classes now accept void(double) functions, which makes them more flexible.

The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example:

`DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);`

Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore.

MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
This commit is contained in:
Tyler Veness
2024-01-01 13:37:51 -08:00
committed by GitHub
parent 8aca706217
commit e7c9f27683
132 changed files with 1159 additions and 697 deletions
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9
wpilibcExamples/src/main/cpp/examples/ArcadeDrive/cpp/Robot.cpp
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@@ -14,10 +14,17 @@
class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::Joystick m_stick{0};
public:
Robot() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
}
void RobotInit() override {
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's

9
wpilibcExamples/src/main/cpp/examples/ArcadeDriveXboxController/cpp/Robot.cpp
View File

@@ -14,10 +14,17 @@
class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::XboxController m_driverController{0};
public:
Robot() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
}
void RobotInit() override {
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's

9
wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,13 +13,20 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
}
void DriveSubsystem::Periodic() {

10
wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
@@ -75,14 +74,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

9
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
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@@ -13,13 +13,20 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
}
void DriveSubsystem::Periodic() {

16
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h
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@@ -4,15 +4,13 @@
#pragma once
#include <frc/motorcontrol/MotorController.h>
/**
* A simplified stub class that simulates the API of a common "smart" motor
* controller.
*
* <p>Has no actual functionality.
*/
class ExampleSmartMotorController : public frc::MotorController {
class ExampleSmartMotorController {
public:
enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
@@ -68,15 +66,15 @@ class ExampleSmartMotorController : public frc::MotorController {
*/
void ResetEncoder() {}
void Set(double speed) override {}
void Set(double speed) {}
double Get() const override { return 0; }
double Get() const { return 0; }
void SetInverted(bool isInverted) override {}
void SetInverted(bool isInverted) {}
bool GetInverted() const override { return false; }
bool GetInverted() const { return false; }
void Disable() override {}
void Disable() {}
void StopMotor() override {}
void StopMotor() {}
};

10
wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
View File

@@ -8,7 +8,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/Commands.h>
#include <frc2/command/SubsystemBase.h>
@@ -73,14 +72,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

4
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
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@@ -12,8 +12,8 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,

9
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
View File

@@ -12,7 +12,6 @@
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/angle.h>
#include <units/angular_velocity.h>
@@ -25,10 +24,13 @@
class Drivetrain {
public:
Drivetrain() {
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
m_gyro.Reset();
// Set the distance per pulse for the drive encoders. We can simply use the
@@ -63,9 +65,6 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};

13
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
View File

@@ -7,10 +7,13 @@
#include "ExampleGlobalMeasurementSensor.h"
Drivetrain::Drivetrain() {
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
m_gyro.Reset();
@@ -37,8 +40,8 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,
@@ -110,9 +113,9 @@ void Drivetrain::SimulationPeriodic() {
// To update our simulation, we set motor voltage inputs, update the
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
frc::RobotController::GetInputVoltage(),
units::volt_t{m_rightGroup.Get()} *
units::volt_t{m_rightLeader.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
View File

@@ -21,7 +21,6 @@
#include <frc/geometry/Quaternion.h>
#include <frc/geometry/Transform3d.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/AnalogGyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
@@ -140,9 +139,6 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};

8
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -12,16 +12,14 @@ DriveSubsystem::DriveSubsystem()
m_rightLeader{kRightMotor1Port},
m_rightFollower{kRightMotor2Port},
m_feedforward{ks, kv, ka} {
wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
wpi::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightLeader.SetInverted(true);
// You might need to not do this depending on the specific motor controller
// that you are using -- contact the respective vendor's documentation for
// more details.
m_rightFollower.SetInverted(true);
m_leftFollower.Follow(m_leftLeader);
m_rightFollower.Follow(m_rightLeader);

16
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h
View File

@@ -4,15 +4,13 @@
#pragma once
#include <frc/motorcontrol/MotorController.h>
/**
* A simplified stub class that simulates the API of a common "smart" motor
* controller.
*
* <p>Has no actual functionality.
*/
class ExampleSmartMotorController : public frc::MotorController {
class ExampleSmartMotorController {
public:
enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
@@ -68,17 +66,17 @@ class ExampleSmartMotorController : public frc::MotorController {
*/
void ResetEncoder() {}
void Set(double speed) override { m_value = speed; }
void Set(double speed) { m_value = speed; }
double Get() const override { return m_value; }
double Get() const { return m_value; }
void SetInverted(bool isInverted) override {}
void SetInverted(bool isInverted) {}
bool GetInverted() const override { return false; }
bool GetInverted() const { return false; }
void Disable() override {}
void Disable() {}
void StopMotor() override {}
void StopMotor() {}
private:
double m_value = 0.0;

4
wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
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@@ -83,5 +83,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::SimpleMotorFeedforward<units::meters> m_feedforward;
// The robot's drive
frc::DifferentialDrive m_drive{m_leftLeader, m_rightLeader};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftLeader.Set(output); },
[&](double output) { m_rightLeader.Set(output); }};
};

16
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialProfile/include/ExampleSmartMotorController.h
View File

@@ -4,15 +4,13 @@
#pragma once
#include <frc/motorcontrol/MotorController.h>
/**
* A simplified stub class that simulates the API of a common "smart" motor
* controller.
*
* <p>Has no actual functionality.
*/
class ExampleSmartMotorController : public frc::MotorController {
class ExampleSmartMotorController {
public:
enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
@@ -68,15 +66,15 @@ class ExampleSmartMotorController : public frc::MotorController {
*/
void ResetEncoder() {}
void Set(double speed) override {}
void Set(double speed) {}
double Get() const override { return 0; }
double Get() const { return 0; }
void SetInverted(bool isInverted) override {}
void SetInverted(bool isInverted) {}
bool GetInverted() const override { return false; }
bool GetInverted() const { return false; }
void Disable() override {}
void Disable() {}
void StopMotor() override {}
void StopMotor() {}
};

16
wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h
View File

@@ -4,15 +4,13 @@
#pragma once
#include <frc/motorcontrol/MotorController.h>
/**
* A simplified stub class that simulates the API of a common "smart" motor
* controller.
*
* <p>Has no actual functionality.
*/
class ExampleSmartMotorController : public frc::MotorController {
class ExampleSmartMotorController {
public:
enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
@@ -68,15 +66,15 @@ class ExampleSmartMotorController : public frc::MotorController {
*/
void ResetEncoder() {}
void Set(double speed) override {}
void Set(double speed) {}
double Get() const override { return 0; }
double Get() const { return 0; }
void SetInverted(bool isInverted) override {}
void SetInverted(bool isInverted) {}
bool GetInverted() const override { return false; }
bool GetInverted() const { return false; }
void Disable() override {}
void Disable() {}
void StopMotor() override {}
void StopMotor() {}
};

8
wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,10 +13,16 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_leftMotors.SetInverted(true);
m_left1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

10
wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
@@ -75,14 +74,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

8
wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/subsystems/Drivetrain.cpp
View File

@@ -11,10 +11,16 @@
#include <units/length.h>
Drivetrain::Drivetrain() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
m_frontLeft.AddFollower(m_rearLeft);
m_frontRight.AddFollower(m_rearRight);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_right.SetInverted(true);
m_frontRight.SetInverted(true);
// Encoders may measure differently in the real world and in
// simulation. In this example the robot moves 0.042 barleycorns

7
wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
View File

@@ -8,7 +8,6 @@
#include <frc/AnalogInput.h>
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
@@ -66,13 +65,13 @@ class Drivetrain : public frc2::SubsystemBase {
private:
frc::PWMSparkMax m_frontLeft{1};
frc::PWMSparkMax m_rearLeft{2};
frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
frc::PWMSparkMax m_frontRight{3};
frc::PWMSparkMax m_rearRight{4};
frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_frontLeft.Set(output); },
[&](double output) { m_frontRight.Set(output); }};
frc::Encoder m_leftEncoder{1, 2};
frc::Encoder m_rightEncoder{3, 4};

7
wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
View File

@@ -11,6 +11,9 @@
class Robot : public frc::TimedRobot {
public:
Robot() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
@@ -48,7 +51,9 @@ class Robot : public frc::TimedRobot {
// Robot drive system
frc::PWMSparkMax m_left{0};
frc::PWMSparkMax m_right{1};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::XboxController m_controller{0};
frc::Timer m_timer;

8
wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
View File

@@ -17,6 +17,11 @@
*/
class Robot : public frc::TimedRobot {
public:
Robot() {
wpi::SendableRegistry::AddChild(&m_drive, &m_left);
wpi::SendableRegistry::AddChild(&m_drive, &m_right);
}
void RobotInit() override {
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
// We need to invert one side of the drivetrain so that positive voltages
@@ -50,7 +55,8 @@ class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_drive{m_left, m_right};
frc::DifferentialDrive m_drive{[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};

8
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -13,10 +13,16 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

10
wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
View File

@@ -7,7 +7,6 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
#include <units/angle.h>
@@ -91,14 +90,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

12
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
View File

@@ -16,6 +16,11 @@
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
// Invert the right side motors. You may need to change or remove this to
// match your robot.
m_frontRight.SetInverted(true);
@@ -48,8 +53,11 @@ class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_rearLeft{kRearLeftMotorPort};
frc::PWMSparkMax m_frontRight{kFrontRightMotorPort};
frc::PWMSparkMax m_rearRight{kRearRightMotorPort};
frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
m_rearRight};
frc::MecanumDrive m_robotDrive{
[&](double output) { m_frontLeft.Set(output); },
[&](double output) { m_rearLeft.Set(output); },
[&](double output) { m_frontRight.Set(output); },
[&](double output) { m_rearRight.Set(output); }};
frc::AnalogGyro m_gyro{kGyroPort};
frc::Joystick m_joystick{kJoystickPort};

8
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -15,10 +15,16 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

10
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
@@ -63,14 +62,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

8
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -15,10 +15,16 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

10
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
View File

@@ -6,7 +6,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
@@ -63,14 +62,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

5
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -30,6 +30,11 @@ DriveSubsystem::DriveSubsystem()
m_odometry{kDriveKinematics, m_gyro.GetRotation2d(),
getCurrentWheelDistances(), frc::Pose2d{}} {
wpi::SendableRegistry::AddChild(&m_drive, &m_frontLeft);
wpi::SendableRegistry::AddChild(&m_drive, &m_rearLeft);
wpi::SendableRegistry::AddChild(&m_drive, &m_frontRight);
wpi::SendableRegistry::AddChild(&m_drive, &m_rearRight);
// Set the distance per pulse for the encoders
m_frontLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rearLeftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);

5
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
View File

@@ -148,7 +148,10 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_rearRight;
// The robot's drive
frc::MecanumDrive m_drive{m_frontLeft, m_rearLeft, m_frontRight, m_rearRight};
frc::MecanumDrive m_drive{[&](double output) { m_frontLeft.Set(output); },
[&](double output) { m_rearLeft.Set(output); },
[&](double output) { m_frontRight.Set(output); },
[&](double output) { m_rearRight.Set(output); }};
// The front-left-side drive encoder
frc::Encoder m_frontLeftEncoder;

12
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
View File

@@ -14,6 +14,11 @@
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontLeft);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearLeft);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_frontRight);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rearRight);
// Invert the right side motors. You may need to change or remove this to
// match your robot.
m_frontRight.SetInverted(true);
@@ -40,8 +45,11 @@ class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_rearLeft{kRearLeftChannel};
frc::PWMSparkMax m_frontRight{kFrontRightChannel};
frc::PWMSparkMax m_rearRight{kRearRightChannel};
frc::MecanumDrive m_robotDrive{m_frontLeft, m_rearLeft, m_frontRight,
m_rearRight};
frc::MecanumDrive m_robotDrive{
[&](double output) { m_frontLeft.Set(output); },
[&](double output) { m_rearLeft.Set(output); },
[&](double output) { m_frontRight.Set(output); },
[&](double output) { m_rearRight.Set(output); }};
frc::Joystick m_stick{kJoystickChannel};
};

12
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -17,10 +17,16 @@ DriveSubsystem::DriveSubsystem()
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]},
m_odometry{m_gyro.GetRotation2d(), units::meter_t{0}, units::meter_t{0}} {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse.value());
@@ -41,8 +47,8 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
}
void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
m_leftMotors.SetVoltage(left);
m_rightMotors.SetVoltage(right);
m_left1.SetVoltage(left);
m_right1.SetVoltage(right);
m_drive.Feed();
}

10
wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
View File

@@ -9,7 +9,6 @@
#include <frc/drive/DifferentialDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/SubsystemBase.h>
#include <units/voltage.h>
@@ -122,14 +121,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1;
frc::PWMSparkMax m_right2;
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder;

4
wpilibcExamples/src/main/cpp/examples/RamseteController/cpp/Drivetrain.cpp
View File

@@ -12,8 +12,8 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const double rightOutput = m_rightPIDController.Calculate(
m_rightEncoder.GetRate(), speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,

9
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
View File

@@ -12,7 +12,6 @@
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/angular_velocity.h>
#include <units/length.h>
@@ -25,10 +24,13 @@ class Drivetrain {
Drivetrain() {
m_gyro.Reset();
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
@@ -64,9 +66,6 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};

8
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
View File

@@ -9,10 +9,16 @@
#include <frc2/command/Commands.h>
Drive::Drive() {
wpi::SendableRegistry::AddChild(&m_drive, &m_leftLeader);
wpi::SendableRegistry::AddChild(&m_drive, &m_rightLeader);
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_rightLeader.SetInverted(true);
// Sets the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(DriveConstants::kEncoderDistancePerPulse);

8
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
View File

@@ -8,7 +8,6 @@
#include <frc/Encoder.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/SubsystemBase.h>
@@ -45,10 +44,9 @@ class Drive : public frc2::SubsystemBase {
frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
frc::MotorControllerGroup m_leftMotors{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightMotors{m_rightLeader, m_rightFollower};
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftLeader.Set(output); },
[&](double output) { m_rightLeader.Set(output); }};
frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
DriveConstants::kLeftEncoderPorts[1],

3
wpilibcExamples/src/main/cpp/examples/RomiReference/cpp/subsystems/Drivetrain.cpp
View File

@@ -15,6 +15,9 @@ using namespace DriveConstants;
// The Romi has onboard encoders that are hardcoded
// to use DIO pins 4/5 and 6/7 for the left and right
Drivetrain::Drivetrain() {
wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.

4
wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
View File

@@ -114,7 +114,9 @@ class Drivetrain : public frc2::SubsystemBase {
frc::Encoder m_leftEncoder{4, 5};
frc::Encoder m_rightEncoder{6, 7};
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::RomiGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;

7
wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
View File

@@ -30,6 +30,9 @@
class Robot : public frc::TimedRobot {
public:
void RobotInit() override {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
// Add a widget titled 'Max Speed' with a number slider.
m_maxSpeed = frc::Shuffleboard::GetTab("Configuration")
.Add("Max Speed", 1)
@@ -65,7 +68,9 @@ class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_right{1};
frc::PWMSparkMax m_elevatorMotor{2};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::Joystick m_stick{0};

8
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
View File

@@ -14,8 +14,8 @@ void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
double rightOutput = m_rightPIDController.Calculate(m_rightEncoder.GetRate(),
speeds.right.value());
m_leftGroup.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightGroup.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
m_leftLeader.SetVoltage(units::volt_t{leftOutput} + leftFeedforward);
m_rightLeader.SetVoltage(units::volt_t{rightOutput} + rightFeedforward);
}
void Drivetrain::Drive(units::meters_per_second_t xSpeed,
@@ -43,9 +43,9 @@ void Drivetrain::SimulationPeriodic() {
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro. We negate the right side so that positive
// voltages make the right side move forward.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftGroup.Get()} *
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftLeader.Get()} *
frc::RobotController::GetInputVoltage(),
units::volt_t{m_rightGroup.Get()} *
units::volt_t{m_rightLeader.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);

11
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
View File

@@ -12,7 +12,6 @@
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/AnalogGyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
@@ -33,10 +32,13 @@ class Drivetrain {
Drivetrain() {
m_gyro.Reset();
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
@@ -49,7 +51,7 @@ class Drivetrain {
m_leftEncoder.Reset();
m_rightEncoder.Reset();
m_rightGroup.SetInverted(true);
m_rightLeader.SetInverted(true);
frc::SmartDashboard::PutData("Field", &m_fieldSim);
}
@@ -80,9 +82,6 @@ class Drivetrain {
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};

19
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -14,10 +14,16 @@
using namespace DriveConstants;
DriveSubsystem::DriveSubsystem() {
wpi::SendableRegistry::AddChild(&m_drive, &m_left1);
wpi::SendableRegistry::AddChild(&m_drive, &m_right1);
m_left1.AddFollower(m_left2);
m_right1.AddFollower(m_right2);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
m_rightMotors.SetInverted(true);
m_right1.SetInverted(true);
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
@@ -40,10 +46,9 @@ void DriveSubsystem::SimulationPeriodic() {
// simulation, and write the simulated positions and velocities to our
// simulated encoder and gyro. We negate the right side so that positive
// voltages make the right side move forward.
m_drivetrainSimulator.SetInputs(units::volt_t{m_leftMotors.Get()} *
frc::RobotController::GetInputVoltage(),
units::volt_t{m_rightMotors.Get()} *
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.SetInputs(
units::volt_t{m_left1.Get()} * frc::RobotController::GetInputVoltage(),
units::volt_t{m_right1.Get()} * frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetLeftPosition().value());
@@ -63,8 +68,8 @@ void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
}
void DriveSubsystem::TankDriveVolts(units::volt_t left, units::volt_t right) {
m_leftMotors.SetVoltage(left);
m_rightMotors.SetVoltage(right);
m_left1.SetVoltage(left);
m_right1.SetVoltage(right);
m_drive.Feed();
}

10
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
View File

@@ -9,7 +9,6 @@
#include <frc/drive/DifferentialDrive.h>
#include <frc/geometry/Pose2d.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/MotorControllerGroup.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/ADXRS450_GyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
@@ -133,14 +132,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::PWMSparkMax m_right1{DriveConstants::kRightMotor1Port};
frc::PWMSparkMax m_right2{DriveConstants::kRightMotor2Port};
// The motors on the left side of the drive
frc::MotorControllerGroup m_leftMotors{m_left1, m_left2};
// The motors on the right side of the drive
frc::MotorControllerGroup m_rightMotors{m_right1, m_right2};
// The robot's drive
frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
[&](double output) { m_right1.Set(output); }};
// The left-side drive encoder
frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],

7
wpilibcExamples/src/main/cpp/examples/TankDrive/cpp/Robot.cpp
View File

@@ -14,12 +14,17 @@
class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::Joystick m_leftStick{0};
frc::Joystick m_rightStick{1};
public:
void RobotInit() override {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.

7
wpilibcExamples/src/main/cpp/examples/TankDriveXboxController/cpp/Robot.cpp
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@@ -14,11 +14,16 @@
class Robot : public frc::TimedRobot {
frc::PWMSparkMax m_leftMotor{0};
frc::PWMSparkMax m_rightMotor{1};
frc::DifferentialDrive m_robotDrive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::XboxController m_driverController{0};
public:
void RobotInit() override {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_rightMotor);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.

5
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/cpp/Robot.cpp
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@@ -4,6 +4,11 @@
#include "Robot.h"
Robot::Robot() {
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
}
void Robot::AutonomousInit() {
// Set setpoint of the pid controller
m_pidController.SetSetpoint(kHoldDistance.value());

5
wpilibcExamples/src/main/cpp/examples/UltrasonicPID/include/Robot.h
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@@ -18,6 +18,7 @@
*/
class Robot : public frc::TimedRobot {
public:
Robot();
void AutonomousInit() override;
void AutonomousPeriodic() override;
@@ -44,6 +45,8 @@ class Robot : public frc::TimedRobot {
frc::Ultrasonic m_ultrasonic{kUltrasonicPingPort, kUltrasonicEchoPort};
frc::PWMSparkMax m_left{kLeftMotorPort};
frc::PWMSparkMax m_right{kRightMotorPort};
frc::DifferentialDrive m_robotDrive{m_left, m_right};
frc::DifferentialDrive m_robotDrive{
[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::PIDController m_pidController{kP, kI, kD};
};

3
wpilibcExamples/src/main/cpp/examples/XRPReference/cpp/subsystems/Drivetrain.cpp
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@@ -15,6 +15,9 @@ using namespace DriveConstants;
// The XRP has onboard encoders that are hardcoded
// to use DIO pins 4/5 and 6/7 for the left and right
Drivetrain::Drivetrain() {
wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.

4
wpilibcExamples/src/main/cpp/examples/XRPReference/include/subsystems/Drivetrain.h
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@@ -118,7 +118,9 @@ class Drivetrain : public frc2::SubsystemBase {
frc::Encoder m_leftEncoder{4, 5};
frc::Encoder m_rightEncoder{6, 7};
frc::DifferentialDrive m_drive{m_leftMotor, m_rightMotor};
frc::DifferentialDrive m_drive{
[&](double output) { m_leftMotor.Set(output); },
[&](double output) { m_rightMotor.Set(output); }};
frc::XRPGyro m_gyro;
frc::BuiltInAccelerometer m_accelerometer;