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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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81
glass/src/libnt/native/cpp/NTMecanumDrive.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/NTMecanumDrive.h"
#include <imgui.h>
#include <wpi/MathExtras.h>
using namespace glass;
NTMecanumDriveModel::NTMecanumDriveModel(wpi::StringRef path)
: NTMecanumDriveModel(nt::GetDefaultInstance(), path) {}
NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance, wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_flPercent(m_nt.GetEntry(path + "/Front Left Motor Speed")),
m_frPercent(m_nt.GetEntry(path + "/Front Right Motor Speed")),
m_rlPercent(m_nt.GetEntry(path + "/Rear Left Motor Speed")),
m_rrPercent(m_nt.GetEntry(path + "/Rear Right Motor Speed")),
m_nameValue(path.rsplit('/').second),
m_flPercentData("NTMcnmDriveFL:" + path),
m_frPercentData("NTMcnmDriveFR:" + path),
m_rlPercentData("NTMcnmDriveRL:" + path),
m_rrPercentData("NTMcnmDriveRR:" + path) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_flPercent);
m_nt.AddListener(m_frPercent);
m_nt.AddListener(m_rlPercent);
m_nt.AddListener(m_rrPercent);
m_wheels.emplace_back("FL % Output", &m_flPercentData, [this](auto value) {
nt::SetEntryValue(m_flPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("FR % Output", &m_frPercentData, [this](auto value) {
nt::SetEntryValue(m_frPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("RL % Output", &m_rlPercentData, [this](auto value) {
nt::SetEntryValue(m_rlPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("RR % Output", &m_rrPercentData, [this](auto value) {
nt::SetEntryValue(m_rrPercent, nt::NetworkTableValue::MakeDouble(value));
});
}
void NTMecanumDriveModel::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_flPercent && event.value &&
event.value->IsDouble()) {
m_flPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_frPercent && event.value &&
event.value->IsDouble()) {
m_frPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rlPercent && event.value &&
event.value->IsDouble()) {
m_rlPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rrPercent && event.value &&
event.value->IsDouble()) {
m_rrPercentData.SetValue(event.value->GetDouble());
}
}
double fl = m_flPercentData.GetValue();
double fr = m_frPercentData.GetValue();
double rl = m_rlPercentData.GetValue();
double rr = m_rrPercentData.GetValue();
m_speedVector =
ImVec2((fl - fr - rl + rr) / 4.0f, -(fl + fr + rl + rr) / 4.0f);
m_rotation = -(-fl + fr - rl + rr) / 4;
}
bool NTMecanumDriveModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_flPercent) != NT_UNASSIGNED;
}