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https://github.com/wpilibsuite/allwpilib
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57 lines
2.0 KiB
C++
57 lines
2.0 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 <numbers>
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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/SwerveModulePosition.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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class SwerveModule {
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public:
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SwerveModule(int driveMotorChannel, int turningMotorChannel,
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int driveEncoderChannelA, int driveEncoderChannelB,
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int turningEncoderChannelA, int turningEncoderChannelB);
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frc::SwerveModuleState GetState() const;
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frc::SwerveModulePosition GetPosition() const;
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void SetDesiredState(const frc::SwerveModuleState& state);
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private:
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static constexpr auto kWheelRadius = 0.0508_m;
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static constexpr int kEncoderResolution = 4096;
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static constexpr auto kModuleMaxAngularVelocity =
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std::numbers::pi * 1_rad_per_s; // radians per second
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static constexpr auto kModuleMaxAngularAcceleration =
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std::numbers::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;
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frc::Encoder m_turningEncoder;
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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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