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85 lines
3.0 KiB
C++
85 lines
3.0 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 "wpi/hardware/rotation/Encoder.hpp"
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#include "wpi/hardware/imu/OnboardIMU.hpp"
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#include "wpi/math/controller/PIDController.hpp"
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#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
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#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
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#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
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#include "wpi/hardware/motor/PWMSparkMax.hpp"
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#include "wpi/units/angle.hpp"
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#include "wpi/units/angular_velocity.hpp"
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#include "wpi/units/length.hpp"
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#include "wpi/units/velocity.hpp"
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/**
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* Represents a differential drive style drivetrain.
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*/
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class Drivetrain {
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public:
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Drivetrain() {
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m_leftLeader.AddFollower(m_leftFollower);
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m_rightLeader.AddFollower(m_rightFollower);
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// We need to invert one side of the drivetrain so that positive voltages
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// result in both sides moving forward. Depending on how your robot's
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// gearbox is constructed, you might have to invert the left side instead.
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m_rightLeader.SetInverted(true);
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m_imu.ResetYaw();
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// Set the distance per pulse for the drive encoders. We can simply use the
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// distance traveled for one rotation of the wheel divided by the encoder
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// resolution.
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m_leftEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
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kEncoderResolution);
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m_rightEncoder.SetDistancePerPulse(2 * std::numbers::pi * kWheelRadius /
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kEncoderResolution);
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m_leftEncoder.Reset();
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m_rightEncoder.Reset();
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}
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static constexpr units::meters_per_second_t kMaxSpeed =
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3.0_mps; // 3 meters per second
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static constexpr units::radians_per_second_t kMaxAngularSpeed{
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std::numbers::pi}; // 1/2 rotation per second
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void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
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void Drive(units::meters_per_second_t xSpeed,
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units::radians_per_second_t rot);
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void UpdateOdometry();
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private:
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static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
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static constexpr double kWheelRadius = 0.0508; // meters
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static constexpr int kEncoderResolution = 4096;
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frc::PWMSparkMax m_leftLeader{1};
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frc::PWMSparkMax m_leftFollower{2};
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frc::PWMSparkMax m_rightLeader{3};
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frc::PWMSparkMax m_rightFollower{4};
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frc::Encoder m_leftEncoder{0, 1};
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frc::Encoder m_rightEncoder{2, 3};
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frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
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frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
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frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
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frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
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frc::DifferentialDriveOdometry m_odometry{
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m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
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units::meter_t{m_rightEncoder.GetDistance()}};
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// Gains are for example purposes only - must be determined for your own
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// robot!
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frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
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};
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