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e7c9f27683
This does not deprecate any current functionality, but prepares the way for future deprecation. The drive classes now accept void(double) functions, which makes them more flexible. The C++ API ended up a bit more verbose, but the Java API is really concise with method references, which is >80% of our userbase. For example: `DifferentialDrive drive = new DifferentialDrive(m_leftMotor::set, m_rightMotor::set);` Lambdas can be passed to interoperate with vendor motor controller APIs that don't have e.g., set(double), so CTRE doesn't have to maintain their WPI_ classes anymore. MotorControllerGroup was replaced with PWMMotorController.addFollower() for PWM motor controllers. Users of CAN motor controllers should use their vendor's follower functionality.
87 lines
2.1 KiB
C++
87 lines
2.1 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 <frc/Encoder.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <frc2/command/SubsystemBase.h>
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#include "Constants.h"
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class DriveSubsystem : public frc2::SubsystemBase {
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public:
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DriveSubsystem();
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/**
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* Will be called periodically whenever the CommandScheduler runs.
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*/
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void Periodic() override;
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// Subsystem methods go here.
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/**
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* Drives the robot using arcade controls.
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*
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* @param fwd the commanded forward movement
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* @param rot the commanded rotation
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*/
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void ArcadeDrive(double fwd, double rot);
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/**
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* Resets the drive encoders to currently read a position of 0.
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*/
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void ResetEncoders();
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/**
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* Gets the average distance of the TWO encoders.
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*
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* @return the average of the TWO encoder readings
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*/
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double GetAverageEncoderDistance();
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/**
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* Gets the left drive encoder.
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*
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* @return the left drive encoder
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*/
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frc::Encoder& GetLeftEncoder();
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/**
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* Gets the right drive encoder.
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*
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* @return the right drive encoder
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*/
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frc::Encoder& GetRightEncoder();
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/**
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* Sets the max output of the drive. Useful for scaling the drive to drive
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* more slowly.
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*
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* @param maxOutput the maximum output to which the drive will be constrained
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*/
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void SetMaxOutput(double maxOutput);
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private:
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// Components (e.g. motor controllers and sensors) should generally be
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// declared private and exposed only through public methods.
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// The motor controllers
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frc::PWMSparkMax m_left1;
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frc::PWMSparkMax m_left2;
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frc::PWMSparkMax m_right1;
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frc::PWMSparkMax m_right2;
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// The robot's drive
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frc::DifferentialDrive m_drive{[&](double output) { m_left1.Set(output); },
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[&](double output) { m_right1.Set(output); }};
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// The left-side drive encoder
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frc::Encoder m_leftEncoder;
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// The right-side drive encoder
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frc::Encoder m_rightEncoder;
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};
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