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c20d34c2b6
Refactor common implementation parts of AnalogGyro into GyroBase. This will make it possible to add digital gyros in a similar way to how digital accelerometers were added. Change-Id: I437ef259e9ecb81f18a91a95c5a58b6607db5e15
66 lines
1.3 KiB
C++
66 lines
1.3 KiB
C++
#ifndef DriveTrain_H
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#define DriveTrain_H
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#include "WPILib.h"
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/**
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* The DriveTrain subsystem incorporates the sensors and actuators attached to
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* the robots chassis. These include four drive motors, a left and right encoder
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* and a gyro.
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*/
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class DriveTrain : public Subsystem {
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private:
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RobotDrive* drive;
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std::shared_ptr<Encoder> left_encoder, right_encoder;
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std::shared_ptr<AnalogInput> rangefinder;
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std::shared_ptr<AnalogGyro> gyro;
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public:
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DriveTrain();
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/**
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* When no other command is running let the operator drive around
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* using the PS3 joystick.
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*/
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void InitDefaultCommand();
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/**
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* The log method puts interesting information to the SmartDashboard.
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*/
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void Log();
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/**
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* Tank style driving for the DriveTrain.
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* @param left Speed in range [-1,1]
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* @param right Speed in range [-1,1]
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*/
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void Drive(double left, double right);
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/**
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* @param joy The ps3 style joystick to use to drive tank style.
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*/
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void Drive(Joystick* joy);
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/**
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* @return The robots heading in degrees.
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*/
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double GetHeading();
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/**
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* Reset the robots sensors to the zero states.
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*/
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void Reset();
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/**
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* @return The distance driven (average of left and right encoders).
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*/
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double GetDistance();
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/**
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* @return The distance to the obstacle detected by the rangefinder.
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*/
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double GetDistanceToObstacle();
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};
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#endif
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