mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
44b9cc1398
GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a This mirrors the robotpy files for the following projects: - apriltag - datalog - hal - ntcore - romiVendordep - wpilibc - wpimath - xrpVendordep This excludes cscore and the halsim wrappers for at this time. NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.
110 lines
4.0 KiB
YAML
110 lines
4.0 KiB
YAML
extra_includes:
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- wpi/sendable/SendableBuilder.h
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- frc/motorcontrol/MotorController.h
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classes:
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frc::DifferentialDrive:
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ignored_bases:
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- wpi::SendableHelper<DifferentialDrive>
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methods:
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DifferentialDrive:
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overloads:
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MotorController&, MotorController&:
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keepalive:
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- [1, 2]
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- [1, 3]
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std::function<void (double)>, std::function<void (double)>:
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ArcadeDrive:
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CurvatureDrive:
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TankDrive:
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ArcadeDriveIK:
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CurvatureDriveIK:
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TankDriveIK:
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StopMotor:
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GetDescription:
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InitSendable:
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doc: |
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A class for driving differential drive/skid-steer drive platforms such as
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the Kit of Parts drive base, "tank drive", or West Coast Drive.
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These drive bases typically have drop-center / skid-steer with two or more
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wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per
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side. For four and six motor drivetrains, construct and pass in
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:class:`MotorControllerGroup` instances as follows.
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Four motor drivetrain::
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import wpilib.drive
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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self.front_left = wpilib.PWMVictorSPX(1)
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self.rear_left = wpilib.PWMVictorSPX(2)
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self.left = wpilib.MotorControllerGroup(self.front_left, self.rear_left)
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self.front_right = wpilib.PWMVictorSPX(3)
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self.rear_right = wpilib.PWMVictorSPX(4)
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self.right = wpilib.MotorControllerGroup(self.front_right, self.rear_right)
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self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
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Six motor drivetrain::
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import wpilib.drive
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class Robot(wpilib.TimedRobot):
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def robotInit(self):
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self.front_left = wpilib.PWMVictorSPX(1)
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self.mid_left = wpilib.PWMVictorSPX(2)
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self.rear_left = wpilib.PWMVictorSPX(3)
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self.left = wpilib.MotorControllerGroup(self.front_left, self.mid_left, self.rear_left)
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self.front_right = wpilib.PWMVictorSPX(4)
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self.mid_right = wpilib.PWMVictorSPX(5)
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self.rear_right = wpilib.PWMVictorSPX(6)
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self.right = wpilib.MotorControllerGroup(self.front_right, self.mid_right, self.rear_right)
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self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
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A differential drive robot has left and right wheels separated by an
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arbitrary width.
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Drive base diagram::
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|_______|
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|_|___|_|
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Each Drive() function provides different inverse kinematic relations for a
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differential drive robot. Motor outputs for the right side are negated, so
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motor direction inversion by the user is usually unnecessary.
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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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The positive X axis points ahead, the positive Y axis points to the right,
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and the positive Z axis points down. Rotations follow the right-hand rule,
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so clockwise rotation around the Z axis is positive.
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Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
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so that the full range is still used. This deadband value can be changed
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with SetDeadband().
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RobotDrive porting guide:
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* :meth:`tankDrive` is equivalent to ``RobotDrive.tankDrive``
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if a deadband of 0 is used.
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* :meth:`arcadeDrive` is equivalent to ``RobotDrive.arcadeDrive``
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if a deadband of 0 is used and the the rotation input is inverted,
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e.g. ``arcadeDrive(y, -rotation, squareInputs=False)``
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* :meth:`curvatureDrive` is similar in concept to
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``RobotDrive.drive`` with the addition of a quick turn
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mode. However, it is not designed to give exactly the same response.
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frc::DifferentialDrive::WheelSpeeds:
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attributes:
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left:
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right:
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