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https://github.com/wpilibsuite/allwpilib
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228 lines
8.1 KiB
C++
228 lines
8.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <string>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/drive/RobotDriveBase.h"
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namespace frc {
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#if defined(_MSC_VER)
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#pragma warning(push)
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#pragma warning(disable : 4996) // was declared deprecated
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#elif defined(__clang__)
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wdeprecated-declarations"
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#elif defined(__GNUC__)
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
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#endif
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class SpeedController;
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/**
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* A class for driving differential drive/skid-steer drive platforms such as
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* the Kit of Parts drive base, "tank drive", or West Coast Drive.
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*
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* These drive bases typically have drop-center / skid-steer with two or more
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* wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per
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* side. For four and six motor drivetrains, construct and pass in
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* MotorControllerGroup instances as follows.
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*
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* Four motor drivetrain:
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* @code{.cpp}
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* class Robot {
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* public:
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* frc::PWMVictorSPX m_frontLeft{1};
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* frc::PWMVictorSPX m_rearLeft{2};
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* frc::MotorControllerGroup m_left{m_frontLeft, m_rearLeft};
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*
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* frc::PWMVictorSPX m_frontRight{3};
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* frc::PWMVictorSPX m_rearRight{4};
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* frc::MotorControllerGroup m_right{m_frontRight, m_rearRight};
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*
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* frc::DifferentialDrive m_drive{m_left, m_right};
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* };
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* @endcode
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*
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* Six motor drivetrain:
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* @code{.cpp}
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* class Robot {
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* public:
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* frc::PWMVictorSPX m_frontLeft{1};
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* frc::PWMVictorSPX m_midLeft{2};
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* frc::PWMVictorSPX m_rearLeft{3};
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* frc::MotorControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
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*
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* frc::PWMVictorSPX m_frontRight{4};
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* frc::PWMVictorSPX m_midRight{5};
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* frc::PWMVictorSPX m_rearRight{6};
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* frc::MotorControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
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*
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* frc::DifferentialDrive m_drive{m_left, m_right};
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* };
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* @endcode
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*
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* A differential drive robot has left and right wheels separated by an
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* arbitrary width.
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*
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* Drive base diagram:
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* <pre>
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* |_______|
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* | | | |
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* | |
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* |_|___|_|
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* | |
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* </pre>
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*
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* Each Drive() function provides different inverse kinematic relations for a
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* differential drive robot. Motor outputs for the right side are negated, so
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* motor direction inversion by the user is usually unnecessary.
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*
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* This library uses the NED axes convention (North-East-Down as external
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* reference in the world frame):
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* http://www.nuclearprojects.com/ins/images/axis_big.png.
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*
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* The positive X axis points ahead, the positive Y axis points to the right,
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* and the positive Z axis points down. Rotations follow the right-hand rule, so
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* clockwise rotation around the Z axis is positive.
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*
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* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
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* so that the full range is still used. This deadband value can be changed
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* with SetDeadband().
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*/
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class DifferentialDrive : public RobotDriveBase,
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public wpi::Sendable,
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public wpi::SendableHelper<DifferentialDrive> {
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public:
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struct WheelSpeeds {
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double left = 0.0;
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double right = 0.0;
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};
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/**
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* Construct a DifferentialDrive.
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*
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* To pass multiple motors per side, use a MotorControllerGroup. If a motor
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* needs to be inverted, do so before passing it in.
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*/
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DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
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~DifferentialDrive() override = default;
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DifferentialDrive(DifferentialDrive&&) = default;
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DifferentialDrive& operator=(DifferentialDrive&&) = default;
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/**
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* Arcade drive method for differential drive platform.
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*
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* Note: Some drivers may prefer inverted rotation controls. This can be done
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* by negating the value passed for rotation.
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*
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* @param xSpeed The speed at which the robot should drive along the X
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* axis [-1.0..1.0]. Forward is positive.
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* @param zRotation The rotation rate of the robot around the Z axis
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* [-1.0..1.0]. Clockwise is positive.
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* @param squareInputs If set, decreases the input sensitivity at low speeds.
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*/
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void ArcadeDrive(double xSpeed, double zRotation, bool squareInputs = true);
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/**
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* Curvature drive method for differential drive platform.
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*
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* The rotation argument controls the curvature of the robot's path rather
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* than its rate of heading change. This makes the robot more controllable at
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* high speeds.
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*
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* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
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* Forward is positive.
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* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
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* positive.
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* @param allowTurnInPlace If set, overrides constant-curvature turning for
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* turn-in-place maneuvers. zRotation will control
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* turning rate instead of curvature.
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*/
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void CurvatureDrive(double xSpeed, double zRotation, bool allowTurnInPlace);
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/**
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* Tank drive method for differential drive platform.
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*
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* @param leftSpeed The robot left side's speed along the X axis
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* [-1.0..1.0]. Forward is positive.
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* @param rightSpeed The robot right side's speed along the X axis
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* [-1.0..1.0]. Forward is positive.
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* @param squareInputs If set, decreases the input sensitivity at low speeds.
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*/
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void TankDrive(double leftSpeed, double rightSpeed, bool squareInputs = true);
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/**
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* Arcade drive inverse kinematics for differential drive platform.
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*
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* Note: Some drivers may prefer inverted rotation controls. This can be done
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* by negating the value passed for rotation.
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*
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* @param xSpeed The speed at which the robot should drive along the X
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* axis [-1.0..1.0]. Forward is positive.
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* @param zRotation The rotation rate of the robot around the Z axis
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* [-1.0..1.0]. Clockwise is positive.
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* @param squareInputs If set, decreases the input sensitivity at low speeds.
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*/
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static WheelSpeeds ArcadeDriveIK(double xSpeed, double zRotation,
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bool squareInputs = true);
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/**
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* Curvature drive inverse kinematics for differential drive platform.
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*
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* The rotation argument controls the curvature of the robot's path rather
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* than its rate of heading change. This makes the robot more controllable at
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* high speeds.
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*
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* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
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* Forward is positive.
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* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
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* positive.
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* @param allowTurnInPlace If set, overrides constant-curvature turning for
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* turn-in-place maneuvers. zRotation will control
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* turning rate instead of curvature.
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*/
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static WheelSpeeds CurvatureDriveIK(double xSpeed, double zRotation,
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bool allowTurnInPlace);
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/**
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* Tank drive inverse kinematics for differential drive platform.
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*
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* @param leftSpeed The robot left side's speed along the X axis
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* [-1.0..1.0]. Forward is positive.
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* @param rightSpeed The robot right side's speed along the X axis
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* [-1.0..1.0]. Forward is positive.
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* @param squareInputs If set, decreases the input sensitivity at low speeds.
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*/
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static WheelSpeeds TankDriveIK(double leftSpeed, double rightSpeed,
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bool squareInputs = true);
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void StopMotor() override;
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std::string GetDescription() const override;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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SpeedController* m_leftMotor;
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SpeedController* m_rightMotor;
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};
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#if defined(_MSC_VER)
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#pragma warning(pop)
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#elif defined(__clang__)
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#pragma clang diagnostic pop
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#elif defined(__GNUC__)
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#pragma GCC diagnostic pop
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#endif
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} // namespace frc
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