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f84018af5f
During shared library loading, a different libLLVM can be pulled in, causing llvm symbols from dependent libraries to resolve to that library instead of this one. This has been seen in the wild with the Mesa OpenGL implementation in JavaFX applications (see wpilibsuite/shuffleboard#361). This is clearly a very breaking change. For some level of backwards compatibility, a namespace alias from llvm to wpi is performed in the "llvm" headers. Unfortunately, forward declarations of llvm classes will still break, but compilers seem to generate clear error messages in those cases ("namespace alias 'llvm' not allowed here, assuming 'wpi'"). This change also moves all the wpiutil headers to a single "wpi" subdirectory from the previously split "llvm", "support", "tcpsockets", and "udpsockets". Shim headers will be added for backwards compatibility in a later commit.
133 lines
4.6 KiB
C++
133 lines
4.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. 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 <wpi/raw_ostream.h>
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#include "Drive/RobotDriveBase.h"
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namespace frc {
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class SpeedController;
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/**
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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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*
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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 SpeedController per
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* side. For four and six motor drivetrains, construct and pass in
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* SpeedControllerGroup instances as follows.
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*
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* Four motor drivetrain:
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* @code{.cpp}
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* class Robot {
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* public:
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* frc::Spark m_frontLeft{1};
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* frc::Spark m_rearLeft{2};
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* frc::SpeedControllerGroup m_left{m_frontLeft, m_rearLeft};
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*
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* frc::Spark m_frontRight{3};
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* frc::Spark m_rearRight{4};
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* frc::SpeedControllerGroup m_right{m_frontRight, m_rearRight};
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*
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* frc::DifferentialDrive m_drive{m_left, m_right};
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* };
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* @endcode
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*
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* Six motor drivetrain:
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* @code{.cpp}
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* class Robot {
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* public:
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* frc::Spark m_frontLeft{1};
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* frc::Spark m_midLeft{2};
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* frc::Spark m_rearLeft{3};
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* frc::SpeedControllerGroup m_left{m_frontLeft, m_midLeft, m_rearLeft};
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*
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* frc::Spark m_frontRight{4};
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* frc::Spark m_midRight{5};
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* frc::Spark m_rearRight{6};
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* frc::SpeedControllerGroup m_right{m_frontRight, m_midRight, m_rearRight};
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*
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* frc::DifferentialDrive m_drive{m_left, m_right};
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* };
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* @endcode
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*
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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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*
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* Drive base diagram:
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* <pre>
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* |_______|
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* | | | |
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* | |
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* |_|___|_|
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* | |
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* </pre>
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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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*
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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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*
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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, so
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* clockwise rotation around the Z axis is positive.
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*
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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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*
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* <p>RobotDrive porting guide:
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* <br>TankDrive(double, double, bool) is equivalent to
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* RobotDrive#TankDrive(double, double, bool) if a deadband of 0 is used.
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* <br>ArcadeDrive(double, double, bool) is equivalent to
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* RobotDrive#ArcadeDrive(double, double, bool) if a deadband of 0 is used
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* and the the rotation input is inverted eg ArcadeDrive(y, -rotation, false)
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* <br>CurvatureDrive(double, double, bool) is similar in concept to
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* RobotDrive#Drive(double, double) 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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*/
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class DifferentialDrive : public RobotDriveBase {
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public:
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static constexpr double kDefaultQuickStopThreshold = 0.2;
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static constexpr double kDefaultQuickStopAlpha = 0.1;
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DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor);
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~DifferentialDrive() override = default;
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DifferentialDrive(const DifferentialDrive&) = delete;
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DifferentialDrive& operator=(const DifferentialDrive&) = delete;
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void ArcadeDrive(double xSpeed, double zRotation, bool squaredInputs = true);
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void CurvatureDrive(double xSpeed, double zRotation, bool isQuickTurn);
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void TankDrive(double leftSpeed, double rightSpeed,
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bool squaredInputs = true);
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void SetQuickStopThreshold(double threshold);
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void SetQuickStopAlpha(double alpha);
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void StopMotor() override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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SpeedController& m_leftMotor;
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SpeedController& m_rightMotor;
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double m_quickStopThreshold = kDefaultQuickStopThreshold;
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double m_quickStopAlpha = kDefaultQuickStopAlpha;
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double m_quickStopAccumulator = 0.0;
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};
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} // namespace frc
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