#include <rmb/drive/DifferentialDrive.h>

Inheritance diagram for rmb::DifferentialDrive:

Public Member Functions
	DifferentialDrive (const DifferentialDrive &)=delete

	DifferentialDrive (DifferentialDrive &&)=delete

	DifferentialDrive (std::unique_ptr< LinearVelocityController > left, std::unique_ptr< LinearVelocityController > right, std::shared_ptr< const frc::Gyro > gyro, frc::DifferentialDriveKinematics kinematics, frc::RamseteController ramseteController, std::string visionTable, const frc::Pose2d &initalPose=frc::Pose2d())

	DifferentialDrive (std::unique_ptr< LinearVelocityController > left, std::unique_ptr< LinearVelocityController > right, std::shared_ptr< const frc::Gyro > gyro, frc::DifferentialDriveKinematics kinematics, frc::RamseteController ramseteController, const frc::Pose2d &initalPose=frc::Pose2d())

void	arcadeDrive (double xSpeed, double zRotation)

void	curvatureDrive (double xSpeed, double zRotation, bool turnInPlace)

void	tankDrive (double leftSpeed, double rightSpeed)

void	driveWheelSpeeds (units::meters_per_second_t leftVelocity, units::meters_per_second_t rightVelocity)

void	driveWheelSpeeds (frc::DifferentialDriveWheelSpeeds wheelSpeeds)

frc::DifferentialDriveWheelSpeeds	getWheelSpeeds () const

void	driveChassisSpeeds (frc::ChassisSpeeds chassisSpeeds) override

frc::ChassisSpeeds	getChassisSpeeds () const override

frc::Pose2d	getPose () const override

frc::Pose2d	updatePose () override

void	resetPose (const frc::Pose2d &pose=frc::Pose2d()) override

void	addVisionMeasurments (const frc::Pose2d &poseEstimate, units::second_t time) override

void	setVisionSTDevs (wpi::array< double, 3 > standardDevs) override

bool	isHolonomic () const override

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

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

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

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)

Additional Inherited Members
Protected Member Functions inherited from rmb::BaseDrive
	BaseDrive (std::string visionTable)

Protected Attributes inherited from rmb::BaseDrive
nt::DoubleArraySubscriber	poseSubscriber

nt::DoubleArraySubscriber	stdDevSubscriber

NT_Listener	poseListener

NT_Listener	stdDevListener

Detailed Description

Class to manage most aspects of a differential drivetrain from basic teleop drive funtions to odometry and full path following for both WPILib and PathPlanner trajectories.

Constructor & Destructor Documentation

◆ DifferentialDrive() [1/2]

rmb::DifferentialDrive::DifferentialDrive	(	std::unique_ptr< LinearVelocityController >	left,
		std::unique_ptr< LinearVelocityController >	right,
		std::shared_ptr< const frc::Gyro >	gyro,
		frc::DifferentialDriveKinematics	kinematics,
		frc::RamseteController	ramseteController,
		std::string	visionTable,
		const frc::Pose2d &	initalPose = frc::Pose2d() )

Constructs a DifferentialDrive object that automatically incorrperates vision measurments over the network for odometry.

Parameters

left	Controls and monitors left side wheel speeds.
right	Controls and monitors right side wheel speeds.
gyro	Monitors the robots heading for odometry.
kinematics	Kinematic modle for converting from wheel states to chassis states.
ramseteController	Feedbakc controller for keeping the robot on path.
visionTable	Path to the NetworkTables table for listening for vision updates.
initialPose	Starting position of the robot for odometry.

◆ DifferentialDrive() [2/2]

rmb::DifferentialDrive::DifferentialDrive	(	std::unique_ptr< LinearVelocityController >	left,
		std::unique_ptr< LinearVelocityController >	right,
		std::shared_ptr< const frc::Gyro >	gyro,
		frc::DifferentialDriveKinematics	kinematics,
		frc::RamseteController	ramseteController,
		const frc::Pose2d &	initalPose = frc::Pose2d() )

Constructs a DifferentialDrive object that does not sutomatically incorrperates vision measurments over the network for odometry.

Parameters

left	Controls and monitors left side wheel speeds.
right	Controls and monitors right side wheel speeds.
gyro	Monitors the robots heading for odometry.
kinematics	Kinematic modle for converting from wheel states to chassis states.
ramseteController	Feedbakc controller for keeping the robot on path.
initialPose	Starting position of the robot for odometry.

Member Function Documentation

◆ addVisionMeasurments()

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

overridevirtual

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.

Implements rmb::BaseDrive.

◆ arcadeDrive()

void rmb::DifferentialDrive::arcadeDrive	(	double	xSpeed,
		double	zRotation )

Drives the robot according to the arcade algorithm which the xSpeed is added ot both sides while rotation is addef ot the left and subtracted from the right. This tends to be the most natural method for a human driver, but is quite useless for autonomouse driving since the speed of the motors is not controlled, just the power output.

Parameters

xSpeed	Desired forward "speed" of the robot form -1.0 to +1.0.
zRotation	Desired turnign rate of the robot from -1.0 to +1.0.

◆ curvatureDrive()

void rmb::DifferentialDrive::curvatureDrive	(	double	xSpeed,
		double	zRotation,
		bool	turnInPlace )

Drives the robot according to the curvature algorithm in which the turning radius of the robot is independedn from the forward speed. This is most useful for teleoperated driving as the speed of the motors is not controlled, just the power output of each motor. This is more natural for human input, but far less accurate for autonomus driving.

Parameters

xSpeed	Desired forward "speed" of the robot form -1.0 to +1.0.
zRotation	Desired turnign rat eof teh robot from -1.0 to +1.0.
turnInPlace	When true, the robot defaults back to an arcade drive so teh robot can turn in place.

◆ driveChassisSpeeds()

void rmb::DifferentialDrive::driveChassisSpeeds ( frc::ChassisSpeeds chassisSpeeds )

overridevirtual

Drives the robot via the speeds of the Chassis.

Parameters

chassisSpeeds Desired speeds of the robot Chassis.

Implements rmb::BaseDrive.

◆ driveWheelSpeeds() [1/2]

void rmb::DifferentialDrive::driveWheelSpeeds ( frc::DifferentialDriveWheelSpeeds wheelSpeeds )

Drives the wheels of the robot at the requested speeds.

Parameters

wheelSpeeds Requested speeds of the robots wheels

◆ driveWheelSpeeds() [2/2]

void rmb::DifferentialDrive::driveWheelSpeeds	(	units::meters_per_second_t	leftVelocity,
		units::meters_per_second_t	rightVelocity )

Drives the wheels of the robot at the requested speeds

Parameters

leftVelocity	Requested speed of the left side wheels.
rightVelocity	Requested speed of the right side wheels.

◆ followPPPath()

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

overridevirtual

Generates a command to follow PathPlanner Trajectory.

Parameters

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

Returns: The command to follow a trajectory.

Implements rmb::BaseDrive.

◆ followWPILibTrajectory()

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

overridevirtual

Generates a command to follow WPILib Trajectory.

Parameters

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

Returns: The command to follow a trajectory.

Implements rmb::BaseDrive.

◆ getChassisSpeeds()

frc::ChassisSpeeds rmb::DifferentialDrive::getChassisSpeeds ( ) const

overridevirtual

Returns the speeds of the robot chassis.

Implements rmb::BaseDrive.

◆ getPose()

frc::Pose2d rmb::DifferentialDrive::getPose ( ) const

overridevirtual

Returns the current poition without modifying it.

Implements rmb::BaseDrive.

◆ getWheelSpeeds()

frc::DifferentialDriveWheelSpeeds rmb::DifferentialDrive::getWheelSpeeds ( ) const

Returns the current speeds of the robot's wheels.

◆ isHolonomic()

bool rmb::DifferentialDrive::isHolonomic ( ) const

inlineoverridevirtual

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.

Implements rmb::BaseDrive.

◆ resetPose()

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

overridevirtual

Resets the estimated robot poition.

Returns: The position to reset the robots estimated position to.

Implements rmb::BaseDrive.

◆ setVisionSTDevs()

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

overridevirtual

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.

Implements rmb::BaseDrive.

◆ tankDrive()

void rmb::DifferentialDrive::tankDrive	(	double	leftSpeed,
		double	rightSpeed )

Drives the robot according to the tank algorithm where the power of the motor on each side of the robot is directly controlled.This is most useful for teleoperated driving as the speed of the motors is not controlled, just the power output of each motor. This is more natural for human input, but far less accurate for autonomus driving.

Parameters

leftSpeed	Desired power or the left motor from -1.0 to +1.0.
rightSpeed	Desired power or the right motor from -1.0 to +1.0.

◆ updatePose()

frc::Pose2d rmb::DifferentialDrive::updatePose ( )

overridevirtual

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

Note: Vision estimations are updated on a separate thread generated at object construction.

Returns: The updated position.

Implements rmb::BaseDrive.

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

src/rmb/drive/DifferentialDrive.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DifferentialDrive() [1/2]

◆ DifferentialDrive() [2/2]

Member Function Documentation

◆ addVisionMeasurments()

◆ arcadeDrive()

◆ curvatureDrive()

◆ driveChassisSpeeds()

◆ driveWheelSpeeds() [1/2]

◆ driveWheelSpeeds() [2/2]

◆ followPPPath()

◆ followWPILibTrajectory()

◆ getChassisSpeeds()

◆ getPose()

◆ getWheelSpeeds()

◆ isHolonomic()

◆ resetPose()

◆ setVisionSTDevs()

◆ tankDrive()

◆ updatePose()