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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
126 lines
5.3 KiB
C++
126 lines
5.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <sstream>
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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namespace frc {
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class SpeedController;
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class GenericHID;
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/**
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* Utility class for handling Robot drive based on a definition of the motor
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* configuration.
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* The robot drive class handles basic driving for a robot. Currently, 2 and 4
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* motor tank and mecanum drive trains are supported. In the future other drive
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* types like swerve might be implemented. Motor channel numbers are passed
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* supplied on creation of the class. Those are used for either the Drive
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* function (intended for hand created drive code, such as autonomous) or with
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* the Tank/Arcade functions intended to be used for Operator Control driving.
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*/
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class RobotDrive : public MotorSafety, public ErrorBase {
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public:
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enum MotorType {
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kFrontLeftMotor = 0,
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kFrontRightMotor = 1,
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kRearLeftMotor = 2,
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kRearRightMotor = 3
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};
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RobotDrive(int leftMotorChannel, int rightMotorChannel);
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RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
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int frontRightMotorChannel, int rearRightMotorChannel);
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RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
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RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
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RobotDrive(std::shared_ptr<SpeedController> leftMotor,
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std::shared_ptr<SpeedController> rightMotor);
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RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
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SpeedController* frontRightMotor, SpeedController* rearRightMotor);
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RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
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SpeedController& frontRightMotor, SpeedController& rearRightMotor);
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RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
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std::shared_ptr<SpeedController> rearLeftMotor,
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std::shared_ptr<SpeedController> frontRightMotor,
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std::shared_ptr<SpeedController> rearRightMotor);
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virtual ~RobotDrive() = default;
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RobotDrive(const RobotDrive&) = delete;
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RobotDrive& operator=(const RobotDrive&) = delete;
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void Drive(double outputMagnitude, double curve);
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void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
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bool squaredInputs = true);
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void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
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bool squaredInputs = true);
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void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
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int rightAxis, bool squaredInputs = true);
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void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
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int rightAxis, bool squaredInputs = true);
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void TankDrive(double leftValue, double rightValue,
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bool squaredInputs = true);
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void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID* moveStick, int moveChannel,
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GenericHID* rotateStick, int rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(GenericHID& moveStick, int moveChannel,
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GenericHID& rotateStick, int rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(double moveValue, double rotateValue,
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bool squaredInputs = true);
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void MecanumDrive_Cartesian(double x, double y, double rotation,
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double gyroAngle = 0.0);
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void MecanumDrive_Polar(double magnitude, double direction, double rotation);
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void HolonomicDrive(double magnitude, double direction, double rotation);
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virtual void SetLeftRightMotorOutputs(double leftOutput, double rightOutput);
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void SetInvertedMotor(MotorType motor, bool isInverted);
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void SetSensitivity(double sensitivity);
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void SetMaxOutput(double maxOutput);
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void SetExpiration(double timeout) override;
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double GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(std::ostringstream& desc) const override;
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protected:
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void InitRobotDrive();
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double Limit(double num);
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void Normalize(double* wheelSpeeds);
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void RotateVector(double& x, double& y, double angle);
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static const int kMaxNumberOfMotors = 4;
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double m_sensitivity = 0.5;
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double m_maxOutput = 1.0;
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std::shared_ptr<SpeedController> m_frontLeftMotor;
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std::shared_ptr<SpeedController> m_frontRightMotor;
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std::shared_ptr<SpeedController> m_rearLeftMotor;
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std::shared_ptr<SpeedController> m_rearRightMotor;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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private:
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int GetNumMotors() {
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int motors = 0;
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if (m_frontLeftMotor) motors++;
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if (m_frontRightMotor) motors++;
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if (m_rearLeftMotor) motors++;
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if (m_rearRightMotor) motors++;
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return motors;
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}
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};
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} // namespace frc
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