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https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
125 lines
5.3 KiB
C++
125 lines
5.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <stdlib.h>
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#include <memory>
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#include <sstream>
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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class SpeedController;
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class GenericHID;
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/**
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* Utility class for handling Robot drive based on a definition of the motor
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* configuration.
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* The robot drive class handles basic driving for a robot. Currently, 2 and 4
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* motor tank and mecanum drive trains are supported. In the future other drive
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* types like swerve might be implemented. Motor channel numbers are passed
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* supplied on creation of the class. Those are used for either the Drive
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* function (intended for hand created drive code, such as autonomous) or with
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* the Tank/Arcade functions intended to be used for Operator Control driving.
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*/
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class RobotDrive : public MotorSafety, public ErrorBase {
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public:
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enum MotorType {
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kFrontLeftMotor = 0,
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kFrontRightMotor = 1,
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kRearLeftMotor = 2,
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kRearRightMotor = 3
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};
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RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
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RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
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uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
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RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
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RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
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RobotDrive(std::shared_ptr<SpeedController> leftMotor,
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std::shared_ptr<SpeedController> rightMotor);
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RobotDrive(SpeedController* frontLeftMotor, SpeedController* rearLeftMotor,
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SpeedController* frontRightMotor, SpeedController* rearRightMotor);
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RobotDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor,
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SpeedController& frontRightMotor, SpeedController& rearRightMotor);
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RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
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std::shared_ptr<SpeedController> rearLeftMotor,
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std::shared_ptr<SpeedController> frontRightMotor,
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std::shared_ptr<SpeedController> rearRightMotor);
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virtual ~RobotDrive() = default;
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RobotDrive(const RobotDrive&) = delete;
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RobotDrive& operator=(const RobotDrive&) = delete;
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void Drive(float outputMagnitude, float curve);
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void TankDrive(GenericHID* leftStick, GenericHID* rightStick,
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bool squaredInputs = true);
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void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
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bool squaredInputs = true);
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void TankDrive(GenericHID* leftStick, uint32_t leftAxis,
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GenericHID* rightStick, uint32_t rightAxis,
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bool squaredInputs = true);
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void TankDrive(GenericHID& leftStick, uint32_t leftAxis,
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GenericHID& rightStick, uint32_t rightAxis,
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bool squaredInputs = true);
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void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
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void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID* moveStick, uint32_t moveChannel,
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GenericHID* rotateStick, uint32_t rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(GenericHID& moveStick, uint32_t moveChannel,
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GenericHID& rotateStick, uint32_t rotateChannel,
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bool squaredInputs = true);
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void ArcadeDrive(float moveValue, float rotateValue,
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bool squaredInputs = true);
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void MecanumDrive_Cartesian(float x, float y, float rotation,
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float gyroAngle = 0.0);
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void MecanumDrive_Polar(float magnitude, float direction, float rotation);
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void HolonomicDrive(float magnitude, float direction, float rotation);
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virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
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void SetInvertedMotor(MotorType motor, bool isInverted);
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void SetSensitivity(float sensitivity);
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void SetMaxOutput(double maxOutput);
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void SetExpiration(float timeout) override;
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float GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(std::ostringstream& desc) const override;
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protected:
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void InitRobotDrive();
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float Limit(float num);
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void Normalize(double* wheelSpeeds);
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void RotateVector(double& x, double& y, double angle);
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static const int32_t kMaxNumberOfMotors = 4;
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float m_sensitivity = 0.5;
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double m_maxOutput = 1.0;
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std::shared_ptr<SpeedController> m_frontLeftMotor;
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std::shared_ptr<SpeedController> m_frontRightMotor;
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std::shared_ptr<SpeedController> m_rearLeftMotor;
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std::shared_ptr<SpeedController> m_rearRightMotor;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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private:
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int32_t GetNumMotors() {
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int motors = 0;
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if (m_frontLeftMotor) motors++;
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if (m_frontRightMotor) motors++;
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if (m_rearLeftMotor) motors++;
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if (m_rearRightMotor) motors++;
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return motors;
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}
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};
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