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[glass] Add drive class widgets (#2975)

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This adds widgets for DifferentialDrive and MecanumDrive.
This commit is contained in:
Prateek Machiraju
2020-12-30 11:51:55 -05:00
committed by GitHub
parent 00fa91d0d6
commit ee7114a58c
7 changed files with 439 additions and 0 deletions
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59
glass/src/libnt/native/cpp/NTDifferentialDrive.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "glass/networktables/NTDifferentialDrive.h"
#include <imgui.h>
#include <wpi/MathExtras.h>
using namespace glass;
NTDifferentialDriveModel::NTDifferentialDriveModel(wpi::StringRef path)
: NTDifferentialDriveModel(nt::GetDefaultInstance(), path) {}
NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_lPercent(m_nt.GetEntry(path + "/Left Motor Speed")),
m_rPercent(m_nt.GetEntry(path + "/Right Motor Speed")),
m_nameValue(path.rsplit('/').second),
m_lPercentData("NTDiffDriveL:" + path),
m_rPercentData("NTDiffDriveR:" + path) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_lPercent);
m_nt.AddListener(m_rPercent);
m_wheels.emplace_back("L % Output", &m_lPercentData, [this](auto value) {
nt::SetEntryValue(m_lPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("R % Output", &m_rPercentData, [this](auto value) {
nt::SetEntryValue(m_rPercent, nt::NetworkTableValue::MakeDouble(value));
});
}
void NTDifferentialDriveModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_name && event.value && event.value->IsString()) {
m_nameValue = event.value->GetString();
} else if (event.entry == m_lPercent && event.value &&
event.value->IsDouble()) {
m_lPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rPercent && event.value &&
event.value->IsDouble()) {
m_rPercentData.SetValue(event.value->GetDouble());
}
}
double l = m_lPercentData.GetValue();
double r = m_rPercentData.GetValue();
m_speedVector = ImVec2(0.0, -(l + r) / 2.0);
m_rotation = (l - r) / 2.0;
}
bool NTDifferentialDriveModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_lPercent) != NT_UNASSIGNED;
}