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Add kinematics suite (#1787)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Prateek Machiraju
2019-09-08 00:11:49 -04:00
committed by Peter Johnson
parent 561cbbd144
commit f405582f86
67 changed files with 5060 additions and 0 deletions
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61
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 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 <frc/AnalogGyro.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>
#include <wpi/math>
#include "SwerveModule.h"
/**
* Represents a swerve drive style drivetrain.
*/
class Drivetrain {
public:
Drivetrain() { m_gyro.Reset(); }
/**
* Get the robot angle as a Rotation2d.
*/
frc::Rotation2d GetAngle() const {
// Negating the angle because WPILib Gyros are CW positive.
return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
}
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
bool fieldRelative);
void UpdateOdometry();
static constexpr units::meters_per_second_t kMaxSpeed =
3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
wpi::math::pi}; // 1/2 rotation per second
private:
frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
SwerveModule m_frontLeft{1, 2};
SwerveModule m_frontRight{2, 3};
SwerveModule m_backLeft{5, 6};
SwerveModule m_backRight{7, 8};
frc::AnalogGyro m_gyro{0};
frc::SwerveDriveKinematics<4> m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::SwerveDriveOdometry<4> m_odometry{m_kinematics};
};