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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.
128 lines
3.0 KiB
C++
128 lines
3.0 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/BuiltInAccelerometer.h>
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#include <frc/Encoder.h>
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#include <frc/drive/DifferentialDrive.h>
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#include <frc/xrp/XRPGyro.h>
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#include <frc/xrp/XRPMotor.h>
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#include <frc2/command/SubsystemBase.h>
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#include <units/length.h>
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class Drivetrain : public frc2::SubsystemBase {
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public:
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static constexpr double kGearRatio =
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(30.0 / 14.0) * (28.0 / 16.0) * (36.0 / 9.0) * (26.0 / 8.0); // 48.75:1
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static constexpr double kCountsPerMotorShaftRev = 12.0;
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static constexpr double kCountsPerRevolution =
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kCountsPerMotorShaftRev * kGearRatio; // 585.0
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static constexpr units::meter_t kWheelDiameter = 60_mm;
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Drivetrain();
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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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/**
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* Drives the robot using arcade controls.
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*
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* @param xaxisSpeed the commanded forward movement
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* @param zaxisRotate the commanded rotation
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*/
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void ArcadeDrive(double xaxisSpeed, double zaxisRotate);
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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 left drive encoder count.
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*
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* @return the left drive encoder count
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*/
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int GetLeftEncoderCount();
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/**
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* Gets the right drive encoder count.
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*
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* @return the right drive encoder count
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*/
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int GetRightEncoderCount();
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/**
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* Gets the left distance driven.
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*
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* @return the left-side distance driven
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*/
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units::meter_t GetLeftDistance();
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/**
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* Gets the right distance driven.
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*
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* @return the right-side distance driven
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*/
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units::meter_t GetRightDistance();
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/**
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* Returns the average distance traveled by the left and right encoders.
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*
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* @return The average distance traveled by the left and right encoders.
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*/
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units::meter_t GetAverageDistance();
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/**
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* Returns the acceleration along the X-axis, in Gs.
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*/
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double GetAccelX();
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/**
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* Returns the acceleration along the Y-axis, in Gs.
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*/
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double GetAccelY();
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/**
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* Returns the acceleration along the Z-axis, in Gs.
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*/
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double GetAccelZ();
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/**
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* Returns the current angle of the Romi around the X-axis, in degrees.
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*/
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double GetGyroAngleX();
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/**
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* Returns the current angle of the Romi around the Y-axis, in degrees.
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*/
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double GetGyroAngleY();
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/**
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* Returns the current angle of the Romi around the Z-axis, in degrees.
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*/
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double GetGyroAngleZ();
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/**
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* Reset the gyro.
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*/
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void ResetGyro();
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private:
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frc::XRPMotor m_leftMotor{0};
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frc::XRPMotor m_rightMotor{1};
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frc::Encoder m_leftEncoder{4, 5};
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frc::Encoder m_rightEncoder{6, 7};
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frc::DifferentialDrive m_drive{
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[&](double output) { m_leftMotor.Set(output); },
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[&](double output) { m_rightMotor.Set(output); }};
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frc::XRPGyro m_gyro;
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frc::BuiltInAccelerometer m_accelerometer;
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};
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