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https://github.com/wpilibsuite/allwpilib
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6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
134 lines
5.6 KiB
C++
134 lines
5.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include <stdlib.h>
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#include <memory>
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#include <sstream>
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#include "HAL/HAL.hpp"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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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
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* mecanum drive trains are supported. In the future other drive types like
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* swerve might be
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* implemented. Motor channel numbers are passed supplied on creation of the
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* class. Those
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* are used for either the Drive function (intended for hand created drive code,
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* such as
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* autonomous) or with the Tank/Arcade functions intended to be used for
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* Operator Control
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* 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(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
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RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
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uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
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DEPRECATED("Raw pointers are deprecated; use shared_ptr instead.")
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RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
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DEPRECATED("References are deprecated; use shared_ptr instead.")
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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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DEPRECATED("Raw pointers are deprecated; use shared_ptr instead.")
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RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
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SpeedController *frontRightMotor, SpeedController *rearRightMotor);
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DEPRECATED("References are deprecated; use shared_ptr instead.")
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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(float outputMagnitude, float 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, uint32_t leftAxis,
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GenericHID *rightStick, uint32_t rightAxis,
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bool squaredInputs = true);
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void TankDrive(GenericHID &leftStick, uint32_t leftAxis,
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GenericHID &rightStick, uint32_t rightAxis,
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bool squaredInputs = true);
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void TankDrive(float leftValue, float rightValue, 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, uint32_t moveChannel,
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GenericHID *rotateStick, uint32_t rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel,
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GenericHID &rotateStick, uint32_t rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(float moveValue, float rotateValue,
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bool squaredInputs = true);
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void MecanumDrive_Cartesian(float x, float y, float rotation,
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float gyroAngle = 0.0);
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void MecanumDrive_Polar(float magnitude, float direction, float rotation);
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void HolonomicDrive(float magnitude, float direction, float rotation);
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virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
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void SetInvertedMotor(MotorType motor, bool isInverted);
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void SetSensitivity(float sensitivity);
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void SetMaxOutput(double maxOutput);
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void SetCANJaguarSyncGroup(uint8_t syncGroup);
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void SetExpiration(float timeout) override;
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float 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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float Limit(float 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 int32_t kMaxNumberOfMotors = 4;
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float m_sensitivity = 0.5;
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double m_maxOutput = 1.0;
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std::shared_ptr<SpeedController> m_frontLeftMotor = nullptr;
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std::shared_ptr<SpeedController> m_frontRightMotor = nullptr;
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std::shared_ptr<SpeedController> m_rearLeftMotor = nullptr;
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std::shared_ptr<SpeedController> m_rearRightMotor = nullptr;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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uint8_t m_syncGroup = 0;
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private:
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int32_t 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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