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https://github.com/wpilibsuite/allwpilib
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80 lines
2.2 KiB
C++
80 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 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 <frc/AnalogGyro.h>
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#include <frc/Encoder.h>
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#include <frc/PWMVictorSPX.h>
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#include <frc/SpeedControllerGroup.h>
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#include <frc/commands/Subsystem.h>
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#include <frc/drive/DifferentialDrive.h>
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namespace frc {
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class Joystick;
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} // namespace frc
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/**
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* The DriveTrain subsystem controls the robot's chassis and reads in
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* information about it's speed and position.
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*/
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class DriveTrain : public frc::Subsystem {
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public:
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DriveTrain();
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/**
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* When other commands aren't using the drivetrain, allow tank drive
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* with
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* the joystick.
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*/
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void InitDefaultCommand();
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/**
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* @param leftAxis Left sides value
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* @param rightAxis Right sides value
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*/
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void TankDrive(double leftAxis, double rightAxis);
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/**
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* Stop the drivetrain from moving.
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*/
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void Stop();
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/**
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* @return The encoder getting the distance and speed of left side of
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* the drivetrain.
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*/
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frc::Encoder& GetLeftEncoder();
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/**
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* @return The encoder getting the distance and speed of right side of
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* the drivetrain.
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*/
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frc::Encoder& GetRightEncoder();
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/**
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* @return The current angle of the drivetrain.
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*/
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double GetAngle();
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private:
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// Subsystem devices
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frc::PWMVictorSPX m_frontLeftCIM{1};
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frc::PWMVictorSPX m_rearLeftCIM{2};
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frc::SpeedControllerGroup m_leftCIMs{m_frontLeftCIM, m_rearLeftCIM};
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frc::PWMVictorSPX m_frontRightCIM{3};
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frc::PWMVictorSPX m_rearRightCIM{4};
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frc::SpeedControllerGroup m_rightCIMs{m_frontRightCIM, m_rearRightCIM};
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frc::DifferentialDrive m_robotDrive{m_leftCIMs, m_rightCIMs};
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frc::Encoder m_rightEncoder{1, 2, true, frc::Encoder::k4X};
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frc::Encoder m_leftEncoder{3, 4, false, frc::Encoder::k4X};
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frc::AnalogGyro m_gyro{0};
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};
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