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076ed7770c
This is the C++ version of #1682. The old command framework is still available, but will be deprecated. Due to name conflicts, the new framework is in the frc2 namespace. Eventually (after the old command framework is removed in a future year) it will be moved into the main frc namespace.
97 lines
2.5 KiB
C++
97 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc2/command/SubsystemBase.h>
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#include <frc/Encoder.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/SpeedControllerGroup.h>
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#include <frc/drive/DifferentialDrive.h>
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#include "Constants.h"
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class DriveSubsystem : public frc2::SubsystemBase {
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public:
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DriveSubsystem();
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/**
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* Will be called periodically whenever the CommandScheduler runs.
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*/
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void Periodic() override;
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// Subsystem methods go here.
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/**
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* Drives the robot using arcade controls.
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*
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* @param fwd the commanded forward movement
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* @param rot the commanded rotation
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*/
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void ArcadeDrive(double fwd, double rot);
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/**
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* Resets the drive encoders to currently read a position of 0.
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*/
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void ResetEncoders();
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/**
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* Gets the average distance of the TWO encoders.
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*
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* @return the average of the TWO encoder readings
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*/
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double GetAverageEncoderDistance();
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/**
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* Gets the left drive encoder.
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*
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* @return the left drive encoder
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*/
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frc::Encoder& GetLeftEncoder();
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/**
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* Gets the right drive encoder.
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*
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* @return the right drive encoder
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*/
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frc::Encoder& GetRightEncoder();
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/**
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* Sets the max output of the drive. Useful for scaling the drive to drive
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* more slowly.
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*
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* @param maxOutput the maximum output to which the drive will be constrained
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*/
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void SetMaxOutput(double maxOutput);
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private:
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// Components (e.g. motor controllers and sensors) should generally be
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// declared private and exposed only through public methods.
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// The motor controllers
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frc::PWMVictorSPX m_left1;
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frc::PWMVictorSPX m_left2;
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frc::PWMVictorSPX m_right1;
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frc::PWMVictorSPX m_right2;
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// The motors on the left side of the drive
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frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
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// The motors on the right side of the drive
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frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
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// The robot's drive
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frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
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// The left-side drive encoder
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frc::Encoder m_leftEncoder;
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// The right-side drive encoder
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frc::Encoder m_rightEncoder;
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};
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