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0abf6c9045
Also deprecate SpeedController in favor of motorcontrol.MotorController and SpeedControllerGroup in favor of motorcontrol.MotorControllerGroup. The MotorController interface is derived from the SpeedController interface so that code such as SpeedController x = new VictorSP(1) continues to compile (just with a warning). SpeedControllerGroup and MotorControllerGroup are independent classes; both implement the MotorController interface.
78 lines
2.7 KiB
C++
78 lines
2.7 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/Encoder.h>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc/kinematics/DifferentialDriveKinematics.h>
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#include <frc/kinematics/DifferentialDriveOdometry.h>
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#include <frc/motorcontrol/MotorControllerGroup.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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#include <units/length.h>
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#include <units/velocity.h>
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#include <wpi/math>
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/**
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* Represents a differential drive style drivetrain.
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*/
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class Drivetrain {
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public:
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Drivetrain() {
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m_gyro.Reset();
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// Set the distance per pulse for the drive encoders. We can simply use the
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// distance traveled for one rotation of the wheel divided by the encoder
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// resolution.
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m_leftEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
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kEncoderResolution);
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m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
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kEncoderResolution);
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m_leftEncoder.Reset();
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m_rightEncoder.Reset();
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}
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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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void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
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void Drive(units::meters_per_second_t xSpeed,
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units::radians_per_second_t rot);
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void UpdateOdometry();
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private:
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static constexpr units::meter_t kTrackWidth = 0.381_m * 2;
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static constexpr double kWheelRadius = 0.0508; // meters
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static constexpr int kEncoderResolution = 4096;
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frc::PWMSparkMax m_leftLeader{1};
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frc::PWMSparkMax m_leftFollower{2};
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frc::PWMSparkMax m_rightLeader{3};
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frc::PWMSparkMax m_rightFollower{4};
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frc::MotorControllerGroup m_leftGroup{m_leftLeader, m_leftFollower};
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frc::MotorControllerGroup m_rightGroup{m_rightLeader, m_rightFollower};
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frc::Encoder m_leftEncoder{0, 1};
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frc::Encoder m_rightEncoder{2, 3};
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frc2::PIDController m_leftPIDController{1.0, 0.0, 0.0};
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frc2::PIDController m_rightPIDController{1.0, 0.0, 0.0};
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frc::AnalogGyro m_gyro{0};
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frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
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frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
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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::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
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};
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