Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/simulation/include/RobotDrive.h b/wpilibc/simulation/include/RobotDrive.h
new file mode 100644
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--- /dev/null
+++ b/wpilibc/simulation/include/RobotDrive.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "ErrorBase.h"
+#include <stdlib.h>
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+
+class SpeedController;
+class GenericHID;
+
+/**
+ * Utility class for handling Robot drive based on a definition of the motor configuration.
+ * The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
+ * drive trains are supported. In the future other drive types like swerve and meccanum might
+ * be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
+ * used for either the Drive function (intended for hand created drive code, such as autonomous)
+ * or with the Tank/Arcade functions intended to be used for Operator Control driving.
+ */
+class RobotDrive : public MotorSafety, public ErrorBase
+{
+public:
+ enum MotorType
+ {
+ kFrontLeftMotor = 0,
+ kFrontRightMotor = 1,
+ kRearLeftMotor = 2,
+ kRearRightMotor = 3
+ };
+
+ RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
+ RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
+ uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
+ RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
+ RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor);
+ RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
+ SpeedController *frontRightMotor, SpeedController *rearRightMotor);
+ RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
+ SpeedController &frontRightMotor, SpeedController &rearRightMotor);
+ virtual ~RobotDrive();
+
+ RobotDrive(const RobotDrive&) = delete;
+ RobotDrive& operator=(const RobotDrive&) = delete;
+
+ void Drive(float outputMagnitude, float curve);
+ void TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs = true);
+ void TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs = true);
+ void TankDrive(GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick,
+ uint32_t rightAxis, bool squaredInputs = true);
+ void TankDrive(GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick,
+ uint32_t rightAxis, bool squaredInputs = true);
+ void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID *stick, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID &stick, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick,
+ uint32_t rotateChannel, bool squaredInputs = true);
+ void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick,
+ uint32_t rotateChannel, bool squaredInputs = true);
+ void ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs = true);
+ void MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle = 0.0);
+ void MecanumDrive_Polar(float magnitude, float direction, float rotation);
+ void HolonomicDrive(float magnitude, float direction, float rotation);
+ virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
+ void SetInvertedMotor(MotorType motor, bool isInverted);
+ void SetSensitivity(float sensitivity);
+ void SetMaxOutput(double maxOutput);
+
+ void SetExpiration(float timeout) override;
+ float GetExpiration() const override;
+ bool IsAlive() const override;
+ void StopMotor() override;
+ bool IsSafetyEnabled() const override;
+ void SetSafetyEnabled(bool enabled) override;
+ void GetDescription(std::ostringstream& desc) const override;
+
+protected:
+ void InitRobotDrive();
+ float Limit(float num);
+ void Normalize(double *wheelSpeeds);
+ void RotateVector(double &x, double &y, double angle);
+
+ static const int32_t kMaxNumberOfMotors = 4;
+
+ int32_t m_invertedMotors[kMaxNumberOfMotors];
+ float m_sensitivity = 0.5;
+ double m_maxOutput = 1.0;
+ bool m_deleteSpeedControllers;
+ SpeedController *m_frontLeftMotor = nullptr;
+ SpeedController *m_frontRightMotor = nullptr;
+ SpeedController *m_rearLeftMotor = nullptr;
+ SpeedController *m_rearRightMotor = nullptr;
+ // FIXME: MotorSafetyHelper *m_safetyHelper;
+
+private:
+ int32_t GetNumMotors()
+ {
+ int motors = 0;
+ if (m_frontLeftMotor)
+ motors++;
+ if (m_frontRightMotor)
+ motors++;
+ if (m_rearLeftMotor)
+ motors++;
+ if (m_rearRightMotor)
+ motors++;
+ return motors;
+ }
+};