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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.
84 lines
1.9 KiB
C++
84 lines
1.9 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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/**
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* A simplified stub class that simulates the API of a common "smart" motor
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* controller.
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*
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* <p>Has no actual functionality.
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*/
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class ExampleSmartMotorController {
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public:
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enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
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/**
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* Creates a new ExampleSmartMotorController.
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*
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* @param port The port for the controller.
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*/
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explicit ExampleSmartMotorController(int port) {}
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/**
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* Example method for setting the PID gains of the smart controller.
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*
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* @param kp The proportional gain.
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* @param ki The integral gain.
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* @param kd The derivative gain.
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*/
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void SetPID(double kp, double ki, double kd) {}
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/**
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* Example method for setting the setpoint of the smart controller in PID
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* mode.
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*
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* @param mode The mode of the PID controller.
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* @param setpoint The controller setpoint.
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* @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
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*/
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void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
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/**
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* Places this motor controller in follower mode.
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*
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* @param leader The leader to follow.
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*/
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void Follow(ExampleSmartMotorController leader) {}
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/**
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* Returns the encoder distance.
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*
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* @return The current encoder distance.
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*/
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double GetEncoderDistance() { return 0; }
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/**
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* Returns the encoder rate.
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*
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* @return The current encoder rate.
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*/
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double GetEncoderRate() { return 0; }
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/**
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* Resets the encoder to zero distance.
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*/
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void ResetEncoder() {}
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void Set(double speed) { m_value = speed; }
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double Get() const { return m_value; }
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void SetInverted(bool isInverted) {}
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bool GetInverted() const { return false; }
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void Disable() {}
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void StopMotor() {}
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private:
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double m_value = 0.0;
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};
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