mirror of
https://github.com/wpilibsuite/allwpilib
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76 lines
2.7 KiB
C++
76 lines
2.7 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 <frc/AnalogGyro.h>
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#include <frc/Encoder.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/controller/PIDController.h>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/MecanumDriveKinematics.h>
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#include <frc/kinematics/MecanumDriveOdometry.h>
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#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
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#include <wpi/math>
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/**
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* Represents a mecanum 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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/**
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* Get the robot angle as a Rotation2d
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*/
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frc::Rotation2d GetAngle() const {
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// Negating the angle because WPILib Gyros are CW positive.
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return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
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}
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frc::MecanumDriveWheelSpeeds GetCurrentState() const;
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void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
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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 units::meters_per_second_t kMaxSpeed =
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3.0_mps; // 3 meters per second
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static constexpr units::radians_per_second_t kMaxAngularSpeed{
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wpi::math::pi}; // 1/2 rotation per second
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private:
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frc::PWMVictorSPX m_frontLeftMotor{1};
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frc::PWMVictorSPX m_frontRightMotor{2};
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frc::PWMVictorSPX m_backLeftMotor{3};
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frc::PWMVictorSPX m_backRightMotor{4};
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frc::Encoder m_frontLeftEncoder{0, 1};
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frc::Encoder m_frontRightEncoder{2, 3};
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frc::Encoder m_backLeftEncoder{4, 5};
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frc::Encoder m_backRightEncoder{6, 7};
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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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frc2::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
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frc2::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
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frc2::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
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frc2::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
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frc::AnalogGyro m_gyro{0};
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frc::MecanumDriveKinematics m_kinematics{
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m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
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m_backRightLocation};
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frc::MecanumDriveOdometry m_odometry{m_kinematics, GetAngle()};
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};
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