mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 <memory>
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#include <llvm/ArrayRef.h>
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#include <llvm/raw_ostream.h>
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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class SpeedController;
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/**
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* Common base class for drive platforms.
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*/
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class RobotDriveBase : public MotorSafety, public SendableBase {
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public:
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/**
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* The location of a motor on the robot for the purpose of driving.
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*/
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enum MotorType {
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kFrontLeft = 0,
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kFrontRight = 1,
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kRearLeft = 2,
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kRearRight = 3,
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kLeft = 0,
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kRight = 1,
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kBack = 2
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};
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RobotDriveBase();
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~RobotDriveBase() override = default;
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RobotDriveBase(const RobotDriveBase&) = delete;
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RobotDriveBase& operator=(const RobotDriveBase&) = delete;
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void SetDeadband(double deadband);
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void SetMaxOutput(double maxOutput);
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void SetExpiration(double timeout) override;
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double GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override = 0;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(llvm::raw_ostream& desc) const override = 0;
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protected:
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double Limit(double number);
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double ApplyDeadband(double number, double deadband);
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void Normalize(llvm::MutableArrayRef<double> wheelSpeeds);
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double m_deadband = 0.02;
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double m_maxOutput = 1.0;
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MotorSafetyHelper m_safetyHelper{this};
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};
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} // namespace frc
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