mirror of
https://github.com/wpilibsuite/allwpilib
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2c50937975
These were incorrect and exhibited as warnings on more recent versions of clang (notably on Mac). - Use pointers instead of references internally in GenericHID and *Drive - Leave PIDBase, PIDController, and Resource non-moveable - Remove the atomic from m_disabled in NidecBrushless - Make Timer and Trigger copyable as well as moveable - Implement custom move constructor/assignment for SendableChooserBase Also comment out some unused variables that caused clang warnings.
147 lines
5.2 KiB
C++
147 lines
5.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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 <memory>
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#include <wpi/raw_ostream.h>
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#include "frc/drive/RobotDriveBase.h"
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#include "frc/drive/Vector2d.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SpeedController;
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/**
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* A class for driving Killough drive platforms.
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*
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* Killough drives are triangular with one omni wheel on each corner.
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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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* </pre>
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*
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* Each Drive() function provides different inverse kinematic relations for a
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* Killough drive. The default wheel vectors are parallel to their respective
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* opposite sides, but can be overridden. See the constructor for more
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* information.
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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 right, and the
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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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class KilloughDrive : public RobotDriveBase,
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public Sendable,
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public SendableHelper<KilloughDrive> {
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public:
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static constexpr double kDefaultLeftMotorAngle = 60.0;
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static constexpr double kDefaultRightMotorAngle = 120.0;
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static constexpr double kDefaultBackMotorAngle = 270.0;
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/**
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* Construct a Killough drive with the given motors and default motor angles.
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*
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* The default motor angles make the wheels on each corner parallel to their
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* respective opposite sides.
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*
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* If a motor needs to be inverted, do so before passing it in.
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*
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* @param leftMotor The motor on the left corner.
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* @param rightMotor The motor on the right corner.
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* @param backMotor The motor on the back corner.
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*/
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KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
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SpeedController& backMotor);
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/**
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* Construct a Killough drive with the given motors.
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*
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* Angles are measured in degrees clockwise from the positive X axis.
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*
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* @param leftMotor The motor on the left corner.
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* @param rightMotor The motor on the right corner.
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* @param backMotor The motor on the back corner.
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* @param leftMotorAngle The angle of the left wheel's forward direction of
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* travel.
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* @param rightMotorAngle The angle of the right wheel's forward direction of
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* travel.
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* @param backMotorAngle The angle of the back wheel's forward direction of
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* travel.
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*/
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KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor,
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SpeedController& backMotor, double leftMotorAngle,
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double rightMotorAngle, double backMotorAngle);
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~KilloughDrive() override = default;
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KilloughDrive(KilloughDrive&&) = default;
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KilloughDrive& operator=(KilloughDrive&&) = default;
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/**
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* Drive method for Killough platform.
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*
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* Angles are measured clockwise from the positive X axis. The robot's speed
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* is independent from its angle or rotation rate.
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*
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* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
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* positive.
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* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
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* positive.
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* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
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* Clockwise is positive.
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* @param gyroAngle The current angle reading from the gyro in degrees around
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* the Z axis. Use this to implement field-oriented controls.
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*/
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void DriveCartesian(double ySpeed, double xSpeed, double zRotation,
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double gyroAngle = 0.0);
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/**
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* Drive method for Killough platform.
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*
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* Angles are measured clockwise from the positive X axis. The robot's speed
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* is independent from its angle or rotation rate.
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*
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* @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is
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* positive.
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* @param angle The angle around the Z axis at which the robot drives in
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* degrees [-180..180].
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* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
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* Clockwise is positive.
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*/
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void DrivePolar(double magnitude, double angle, double zRotation);
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void StopMotor() override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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void InitSendable(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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SpeedController* m_backMotor;
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Vector2d m_leftVec;
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Vector2d m_rightVec;
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Vector2d m_backVec;
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bool reported = false;
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};
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} // namespace frc
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