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80 lines
2.9 KiB
C++
80 lines
2.9 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/OnboardIMU.h>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc/geometry/Translation2d.h>
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#include <frc/kinematics/MecanumDriveKinematics.h>
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#include <frc/kinematics/MecanumDriveOdometry.h>
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#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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/**
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* Represents a mecanum 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_imu.ResetYaw();
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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_frontRightMotor.SetInverted(true);
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m_backRightMotor.SetInverted(true);
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}
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frc::MecanumDriveWheelSpeeds GetCurrentState() const;
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frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
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void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
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void Drive(units::meters_per_second_t xSpeed,
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units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
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bool fieldRelative, units::second_t period);
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void UpdateOdometry();
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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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private:
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frc::PWMSparkMax m_frontLeftMotor{1};
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frc::PWMSparkMax m_frontRightMotor{2};
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frc::PWMSparkMax m_backLeftMotor{3};
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frc::PWMSparkMax m_backRightMotor{4};
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frc::Encoder m_frontLeftEncoder{0, 1};
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frc::Encoder m_frontRightEncoder{2, 3};
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frc::Encoder m_backLeftEncoder{4, 5};
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frc::Encoder m_backRightEncoder{6, 7};
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frc::Translation2d m_frontLeftLocation{0.381_m, 0.381_m};
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frc::Translation2d m_frontRightLocation{0.381_m, -0.381_m};
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frc::Translation2d m_backLeftLocation{-0.381_m, 0.381_m};
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frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
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frc::PIDController m_frontLeftPIDController{1.0, 0.0, 0.0};
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frc::PIDController m_frontRightPIDController{1.0, 0.0, 0.0};
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frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
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frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
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frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
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frc::MecanumDriveKinematics m_kinematics{
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m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
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m_backRightLocation};
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frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
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GetCurrentWheelDistances()};
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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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