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15275433d4
- Remove duplicate motor port (2) from C++ SwerveBot/SwerveDrivePoseEstimator Java has the correct motor ports. - Fix duplicate port allocation in C++ RomiReference by correcting if/else check Java logic was already correct, and confirms this change.
55 lines
1.8 KiB
C++
55 lines
1.8 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 <frc/AnalogGyro.h>
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#include <frc/estimator/SwerveDrivePoseEstimator.h>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/SwerveDriveKinematics.h>
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#include <frc/kinematics/SwerveDriveOdometry.h>
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#include <wpi/numbers>
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#include "SwerveModule.h"
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/**
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* Represents a swerve drive style drivetrain.
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*/
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class Drivetrain {
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public:
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Drivetrain() { m_gyro.Reset(); }
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void Drive(units::meters_per_second_t xSpeed,
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units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
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bool fieldRelative);
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void UpdateOdometry();
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static constexpr auto kMaxSpeed = 3.0_mps; // 3 meters per second
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static constexpr units::radians_per_second_t kMaxAngularSpeed{
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wpi::numbers::pi}; // 1/2 rotation per second
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private:
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frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};
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frc::Translation2d m_frontRightLocation{+0.381_m, -0.381_m};
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frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
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frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
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SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
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SwerveModule m_frontRight{3, 4, 4, 5, 6, 7};
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SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
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SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
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frc::AnalogGyro m_gyro{0};
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frc::SwerveDriveKinematics<4> m_kinematics{
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m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
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m_backRightLocation};
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// Gains are for example purposes only - must be determined for your own
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// robot!
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frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
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frc::Rotation2d(), frc::Pose2d(), m_kinematics,
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{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
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};
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