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100 lines
2.4 KiB
C++
100 lines
2.4 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 <memory>
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#include <span>
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#include <string>
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#include "frc/MotorSafety.h"
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namespace frc {
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/**
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* Common base class for drive platforms.
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*
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* MotorSafety is enabled by default.
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*/
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class RobotDriveBase : public MotorSafety {
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public:
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/**
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* The location of a motor on the robot for the purpose of driving.
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*/
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enum MotorType {
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/// Front-left motor.
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kFrontLeft = 0,
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/// Front-right motor.
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kFrontRight = 1,
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/// Rear-left motor.
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kRearLeft = 2,
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/// Rear-right motor.
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kRearRight = 3,
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/// Left motor.
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kLeft = 0,
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/// Right motor.
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kRight = 1,
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/// Back motor.
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kBack = 2
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};
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RobotDriveBase();
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~RobotDriveBase() override = default;
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RobotDriveBase(RobotDriveBase&&) = default;
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RobotDriveBase& operator=(RobotDriveBase&&) = default;
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/**
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* Sets the deadband applied to the drive inputs (e.g., joystick values).
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*
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* The default value is 0.02. Inputs smaller than the deadband are set to 0.0
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* while inputs larger than the deadband are scaled from 0.0 to 1.0. See
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* frc::ApplyDeadband().
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*
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* @param deadband The deadband to set.
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*/
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void SetDeadband(double deadband);
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/**
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* Configure the scaling factor for using RobotDrive with motor controllers in
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* a mode other than PercentVbus or to limit the maximum output.
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*
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* @param maxOutput Multiplied with the output percentage computed by the
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* drive functions.
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*/
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void SetMaxOutput(double maxOutput);
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/**
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* Feed the motor safety object. Resets the timer that will stop the motors if
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* it completes.
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*
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* @see MotorSafetyHelper::Feed()
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*/
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void FeedWatchdog();
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void StopMotor() override = 0;
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std::string GetDescription() const override = 0;
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protected:
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/// Default input deadband.
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static constexpr double kDefaultDeadband = 0.02;
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/// Default maximum output.
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static constexpr double kDefaultMaxOutput = 1.0;
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/**
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* Renormalize all wheel speeds if the magnitude of any wheel is greater than
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* 1.0.
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*/
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static void Desaturate(std::span<double> wheelSpeeds);
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/// Input deadband.
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double m_deadband = kDefaultDeadband;
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/// Maximum output.
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double m_maxOutput = kDefaultMaxOutput;
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};
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} // namespace frc
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