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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
109 lines
4.4 KiB
C++
109 lines
4.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ROBOTDRIVE_H_
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#define ROBOTDRIVE_H_
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#include "ErrorBase.h"
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#include <stdlib.h>
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#include "HAL/HAL.h"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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class SpeedController;
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class GenericHID;
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/**
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* Utility class for handling Robot drive based on a definition of the motor configuration.
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* The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
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* drive trains are supported. In the future other drive types like swerve and meccanum might
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* be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
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* used for either the Drive function (intended for hand created drive code, such as autonomous)
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* or with the Tank/Arcade functions intended to be used for Operator Control driving.
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*/
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class RobotDrive: public MotorSafety, public ErrorBase
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{
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public:
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typedef enum
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{
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kFrontLeftMotor = 0,
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kFrontRightMotor = 1,
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kRearLeftMotor = 2,
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kRearRightMotor = 3
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} MotorType;
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RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
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RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
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uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
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RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
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RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor);
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RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
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SpeedController *frontRightMotor, SpeedController *rearRightMotor);
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RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
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SpeedController &frontRightMotor, SpeedController &rearRightMotor);
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virtual ~RobotDrive();
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void Drive(float outputMagnitude, float curve);
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void TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs = true);
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void TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs = true);
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void TankDrive(GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick, uint32_t rightAxis, bool squaredInputs = true);
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void TankDrive(GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick, uint32_t rightAxis, bool squaredInputs = true);
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void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
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void ArcadeDrive(GenericHID *stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID &stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick, uint32_t rotateChannel, bool squaredInputs = true);
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void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick, uint32_t rotateChannel, bool squaredInputs = true);
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void ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs = true);
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void MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle = 0.0);
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void MecanumDrive_Polar(float magnitude, float direction, float rotation);
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void HolonomicDrive(float magnitude, float direction, float rotation);
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virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
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void SetInvertedMotor(MotorType motor, bool isInverted);
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void SetSensitivity(float sensitivity);
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void SetMaxOutput(double maxOutput);
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void SetExpiration(float timeout);
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float GetExpiration();
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bool IsAlive();
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void StopMotor();
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bool IsSafetyEnabled();
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void SetSafetyEnabled(bool enabled);
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void GetDescription(char *desc);
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protected:
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void InitRobotDrive();
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float Limit(float num);
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void Normalize(double *wheelSpeeds);
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void RotateVector(double &x, double &y, double angle);
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static const int32_t kMaxNumberOfMotors = 4;
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int32_t m_invertedMotors[kMaxNumberOfMotors];
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float m_sensitivity;
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double m_maxOutput;
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bool m_deleteSpeedControllers;
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SpeedController *m_frontLeftMotor;
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SpeedController *m_frontRightMotor;
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SpeedController *m_rearLeftMotor;
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SpeedController *m_rearRightMotor;
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MotorSafetyHelper *m_safetyHelper;
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private:
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int32_t GetNumMotors()
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{
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int motors = 0;
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if (m_frontLeftMotor) motors++;
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if (m_frontRightMotor) motors++;
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if (m_rearLeftMotor) motors++;
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if (m_rearRightMotor) motors++;
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return motors;
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}
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DISALLOW_COPY_AND_ASSIGN(RobotDrive);
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};
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#endif
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