#include <rmb/drive/BaseDrive.h>

Inheritance diagram for rmb::BaseDrive:

Public Member Functions
virtual void	driveChassisSpeeds (frc::ChassisSpeeds chassisSpeeds)=0

virtual frc::ChassisSpeeds	getChassisSpeeds () const =0

virtual frc::Pose2d	getPose () const =0

virtual frc::Pose2d	updatePose ()=0

virtual void	addVisionMeasurments (const frc::Pose2d &poseEstimate, units::second_t time)=0

virtual void	setVisionSTDevs (wpi::array< double, 3 > standardDevs)=0

virtual void	resetPose (const frc::Pose2d &pose=frc::Pose2d())=0

virtual bool	isHolonomic () const =0

virtual frc2::CommandPtr	followWPILibTrajectory (frc::Trajectory trajectory, std::initializer_list< frc2::Subsystem * > driveRequirements)=0

virtual frc2::CommandPtr	followWPILibTrajectoryGroup (std::vector< frc::Trajectory > trajectoryGroup, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	followPPPath (std::shared_ptr< pathplanner::PathPlannerPath > path, std::initializer_list< frc2::Subsystem * > driveRequirements)=0

virtual frc2::CommandPtr	followPPPathWithEvents (pathplanner::PathPlannerPath path, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	fullPPAuto (pathplanner::PathPlannerPath path, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

virtual frc2::CommandPtr	fullPPAuto (std::vector< pathplanner::PathPlannerTrajectory > trajectoryGroup, std::unordered_map< std::string, std::shared_ptr< frc2::Command > > eventMap, std::initializer_list< frc2::Subsystem * > driveRequirements)

Protected Member Functions
	BaseDrive (std::string visionTable)

Protected Attributes
nt::DoubleArraySubscriber	poseSubscriber

nt::DoubleArraySubscriber	stdDevSubscriber

NT_Listener	poseListener

NT_Listener	stdDevListener

Detailed Description

Base interface for robot drive classes that can handle automatic updating of vision based odometry and more complex path following.

Constructor & Destructor Documentation

◆ BaseDrive()

rmb::BaseDrive::BaseDrive ( std::string visionTable )

protected

Constructs a base drive class capable of automatically listening for vision based odometry over the network via NetworkTables.

Parameters

visionTable Path to NetworkTables table for listening for vision based odometry updates. This table whould include two DoubleArrayTopics. One titled pose with three entries ordered X, Y, Theta in meters and radians. The other should be names stDev with three entris again ordered X, Y, Theta with units meters and radians. Always update stDev before pose.

Member Function Documentation

◆ addVisionMeasurments()

virtual void rmb::BaseDrive::addVisionMeasurments	(	const frc::Pose2d &	poseEstimate,
		units::second_t	time )

pure virtual

Updates the current position of the robot using latency compensated vision data.

Parameters

poseEstimate	The estimated position of the robot from vision.
time	The time at which the data that produces this estimate was captures. This is an absolute time with with the zero eposh being the same as wpi::Now() and nt::Now(). This is usually extracted from network tables.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ driveChassisSpeeds()

virtual void rmb::BaseDrive::driveChassisSpeeds ( frc::ChassisSpeeds chassisSpeeds )

pure virtual

Drives the robot via the speeds of the Chassis.

Parameters

chassisSpeeds Desired speeds of the robot Chassis.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ followPPPath()

virtual frc2::CommandPtr rmb::BaseDrive::followPPPath	(	std::shared_ptr< pathplanner::PathPlannerPath >	path,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

pure virtual

Generates a command to follow PathPlanner Trajectory.

Parameters

trajectory	The trajectory to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a trajectory.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ followPPPathWithEvents()

virtual frc2::CommandPtr rmb::BaseDrive::followPPPathWithEvents	(	pathplanner::PathPlannerPath	path,
		std::unordered_map< std::string, std::shared_ptr< frc2::Command > >	eventMap,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

virtual

Generates a command to follow a vector of PathPlanner Trajectories. This is helpful if the robot should stop in the middle of a path or changes direction.

Parameters

trajectorygroup	The vector of trajectories to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a list of trajectories. Generates a command to follow a PathPlanner Trajectories with events. When each event is triggered, the robot will execute the corosponding commmand in the event map while continuing to follow the path.

Parameters

trajectory	The trajectory to follow.
evenMap	Used to map event names to thier corosponding commands for execution during the trajectory.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a trajectory with events.

◆ followWPILibTrajectory()

virtual frc2::CommandPtr rmb::BaseDrive::followWPILibTrajectory	(	frc::Trajectory	trajectory,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

pure virtual

Generates a command to follow WPILib Trajectory.

Parameters

trajectory	The trajectory to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a trajectory.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ followWPILibTrajectoryGroup()

virtual frc2::CommandPtr rmb::BaseDrive::followWPILibTrajectoryGroup	(	std::vector< frc::Trajectory >	trajectoryGroup,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

virtual

Generates a command to follow a vector of WPILib Trajectories. This is helpful if the robot should stop in the middle of a path or changes direction.

Parameters

trajectorygroup	The vector of trajectories to follow.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a list of trajectories.

◆ fullPPAuto() [1/2]

virtual frc2::CommandPtr rmb::BaseDrive::fullPPAuto	(	pathplanner::PathPlannerPath	path,
		std::unordered_map< std::string, std::shared_ptr< frc2::Command > >	eventMap,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

virtual

Generates a command to follow a vector of PathPlanner Trajectories with events. When each event is triggered, the robot will execute the corosponding commmand in the event map while continuing to follow the path.

Parameters

trajectoryGroup	The vector of trajectories to follow.
evenMap	Used to map event names to thier corosponding commands for execution during the trajectories.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a list of trajectories with events. Generates a command to complete a full autonomouse routine generated by PathPlanner. Beyond just a path with events, this includes resetting the position at the start of the path and executing stop events.

Parameters

trajectory	The trajectory to follow.
evenMap	Used to map event names to thier corosponding commands for execution during the trajectories.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a full autonomus routine.

◆ fullPPAuto() [2/2]

virtual frc2::CommandPtr rmb::BaseDrive::fullPPAuto	(	std::vector< pathplanner::PathPlannerTrajectory >	trajectoryGroup,
		std::unordered_map< std::string, std::shared_ptr< frc2::Command > >	eventMap,
		std::initializer_list< frc2::Subsystem * >	driveRequirements )

virtual

Generates a command to complete a full autonomouse routine generated by PathPlanner. Beyond just a path with events, this includes resetting the position at the start of the path and executing stop events.

Parameters

trajectoryGroup	The vector of trajectories to follow.
evenMap	Used to map event names to thier corosponding commands for execution during the trajectories.
driveRequirements	The subsystems required for driving the robot (ie. the one that contains this class)

Returns: The command to follow a full autonomus routine.

◆ getChassisSpeeds()

virtual frc::ChassisSpeeds rmb::BaseDrive::getChassisSpeeds ( ) const

pure virtual

Returns the speeds of the robot chassis.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ getPose()

virtual frc::Pose2d rmb::BaseDrive::getPose ( ) const

pure virtual

Returns the current poition estimation without modifying it.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ isHolonomic()

virtual bool rmb::BaseDrive::isHolonomic ( ) const

pure virtual

Returns wherther the drive train is holonomic, meanign can move in all directions. This is nessesry for determining how to rezero a robot at the beginning of a path.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ resetPose()

virtual void rmb::BaseDrive::resetPose ( const frc::Pose2d & pose = frc::Pose2d() )

pure virtual

Resets the estimated robot poition.

Returns: The position to reset the robots estimated to.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ setVisionSTDevs()

virtual void rmb::BaseDrive::setVisionSTDevs ( wpi::array< double, 3 > standardDevs )

pure virtual

Change accuratly vision data is expected to be.

Parameters

standardDevs The standar deviation of vision measurments. This is by how much teh actual robot positioon varies from the actual posiotion of the robot. A larger value means less acurate data. These are in units of meters and radians ordered X, Y, Theta.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

◆ updatePose()

virtual frc::Pose2d rmb::BaseDrive::updatePose ( )

pure virtual

Updates the current position of the robot using encoder and gyroscope data.

Returns: The updated position.

Implemented in rmb::DifferentialDrive, and rmb::SwerveDrive< NumModules >.

Member Data Documentation

◆ poseListener

NT_Listener rmb::BaseDrive::poseListener

protected

Handle for keeping track of vision position callback for position.

◆ poseSubscriber

nt::DoubleArraySubscriber rmb::BaseDrive::poseSubscriber

protected

Network Tables subscriber for vision position predictions.

Data is sent in a three entry double array ordered X, Y, Theta. X and Y are in meters and Theta is in radians.

◆ stdDevListener

NT_Listener rmb::BaseDrive::stdDevListener

protected

Handle for keeping track of vision position standard deviations callback for position.

◆ stdDevSubscriber

nt::DoubleArraySubscriber rmb::BaseDrive::stdDevSubscriber

protected

Network Tables subscriber for the standard deviation of vision predictions.

Data is sent in a three entry double array ordered X, Y, Theta. X and Y are in meters and Theta is in radians. The standard deviations are a measure of how much the reported position typically deviates from the true position. Larger values denote less accuracy in vision data, while smaller values denote higher accuracy.

The documentation for this class was generated from the following file:

src/rmb/drive/BaseDrive.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseDrive()

Member Function Documentation

◆ addVisionMeasurments()

◆ driveChassisSpeeds()

◆ followPPPath()

◆ followPPPathWithEvents()

◆ followWPILibTrajectory()

◆ followWPILibTrajectoryGroup()

◆ fullPPAuto() [1/2]

◆ fullPPAuto() [2/2]

◆ getChassisSpeeds()

◆ getPose()

◆ isHolonomic()

◆ resetPose()

◆ setVisionSTDevs()

◆ updatePose()

Member Data Documentation

◆ poseListener

◆ poseSubscriber

◆ stdDevListener

◆ stdDevSubscriber