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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.
52 lines
1.7 KiB
C++
52 lines
1.7 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/Encoder.h>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/ProfiledPIDController.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc/kinematics/SwerveModuleState.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <units/angular_velocity.h>
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#include <units/time.h>
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#include <units/velocity.h>
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#include <units/voltage.h>
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#include <wpi/math>
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class SwerveModule {
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public:
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SwerveModule(int driveMotorChannel, int turningMotorChannel);
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frc::SwerveModuleState GetState() const;
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void SetDesiredState(const frc::SwerveModuleState& state);
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private:
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static constexpr double kWheelRadius = 0.0508;
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static constexpr int kEncoderResolution = 4096;
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static constexpr auto kModuleMaxAngularVelocity =
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wpi::math::pi * 1_rad_per_s; // radians per second
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static constexpr auto kModuleMaxAngularAcceleration =
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wpi::math::pi * 2_rad_per_s / 1_s; // radians per second^2
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frc::PWMSparkMax m_driveMotor;
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frc::PWMSparkMax m_turningMotor;
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frc::Encoder m_driveEncoder{0, 1};
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frc::Encoder m_turningEncoder{2, 3};
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frc2::PIDController m_drivePIDController{1.0, 0, 0};
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frc::ProfiledPIDController<units::radians> m_turningPIDController{
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1.0,
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0.0,
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0.0,
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{kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
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frc::SimpleMotorFeedforward<units::meters> m_driveFeedforward{1_V,
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3_V / 1_mps};
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frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
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1_V, 0.5_V / 1_rad_per_s};
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};
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