/**
* Constructor for RobotDrive with 4 motors specified with channel numbers.
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Talons for controlling the motors.
* @param frontLeftMotor Front left motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
* @param rearLeftMotor Rear Left motor channel number. 0-9 are on-board, 10-19
* are on the MXP port
* @param frontRightMotor Front right motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
* @param rearRightMotor Rear Right motor channel number. 0-9 are on-board,
* 10-19 are on the MXP port
*/
RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
uint32_t frontRightMotor, uint32_t rearRightMotor) {
InitRobotDrive();
m_rearLeftMotor = std::make_shared<Talon>(rearLeftMotor);
m_rearRightMotor = std::make_shared<Talon>(rearRightMotor);
m_frontLeftMotor = std::make_shared<Talon>(frontLeftMotor);
m_frontRightMotor = std::make_shared<Talon>(frontRightMotor);
SetLeftRightMotorOutputs(0.0, 0.0);
}
RobotDrive::RobotDrive(SpeedController &frontLeftMotor,
SpeedController &rearLeftMotor,
SpeedController &frontRightMotor,
SpeedController &rearRightMotor) {
InitRobotDrive();
m_frontLeftMotor = make_shared_nodelete(&frontLeftMotor);
m_rearLeftMotor = make_shared_nodelete(&rearLeftMotor);
m_frontRightMotor = make_shared_nodelete(&frontRightMotor);
m_rearRightMotor = make_shared_nodelete(&rearRightMotor);
}
RobotDrive::RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor)
{
InitRobotDrive();
m_rearLeftMotor = &leftMotor;
m_rearRightMotor = &rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
/**
* Constructor for RobotDrive with 2 motors specified as SpeedController
* objects.
* The SpeedController version of the constructor enables programs to use the
* RobotDrive classes with
* subclasses of the SpeedController objects, for example, versions with ramping
* or reshaping of
* the curve to suit motor bias or deadband elimination.
* @param leftMotor The left SpeedController object used to drive the robot.
* @param rightMotor the right SpeedController object used to drive the robot.
*/
RobotDrive::RobotDrive(SpeedController *leftMotor,
SpeedController *rightMotor) {
InitRobotDrive();
if (leftMotor == nullptr || rightMotor == nullptr) {
wpi_setWPIError(NullParameter);
m_rearLeftMotor = m_rearRightMotor = nullptr;
return;
}
m_rearLeftMotor = make_shared_nodelete(leftMotor);
m_rearRightMotor = make_shared_nodelete(rightMotor);
}
RobotDrive::RobotDrive(std::shared_ptr<SpeedController> leftMotor,
std::shared_ptr<SpeedController> rightMotor) {
InitRobotDrive();
if (leftMotor == nullptr || rightMotor == nullptr) {
wpi_setWPIError(NullParameter);
m_rearLeftMotor = m_rearRightMotor = nullptr;
return;
}
m_rearLeftMotor = leftMotor;
m_rearRightMotor = rightMotor;
}
/** Constructor for RobotDrive with 2 motors specified with channel numbers.
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param leftMotorChannel The PWM channel number on the default digital module that drives the left motor.
* @param rightMotorChannel The PWM channel number on the default digital module that drives the right motor.
*/
RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
{
InitRobotDrive();
m_rearLeftMotor = new Jaguar(leftMotorChannel);
m_rearRightMotor = new Jaguar(rightMotorChannel);
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
SetLeftRightMotorOutputs(0.0, 0.0);
m_deleteSpeedControllers = true;
}
/**
* Constructor for RobotDrive with 4 motors specified with channel numbers.
* Set up parameters for a four wheel drive system where all four motor
* pwm channels are specified in the call.
* This call assumes Jaguars for controlling the motors.
* @param frontLeftMotor Front left motor channel number on the default digital module
* @param rearLeftMotor Rear Left motor channel number on the default digital module
* @param frontRightMotor Front right motor channel number on the default digital module
* @param rearRightMotor Rear Right motor channel number on the default digital module
*/
RobotDrive::RobotDrive(UINT32 frontLeftMotor, UINT32 rearLeftMotor,
UINT32 frontRightMotor, UINT32 rearRightMotor)
{
InitRobotDrive();
m_rearLeftMotor = new Jaguar(rearLeftMotor);
m_rearRightMotor = new Jaguar(rearRightMotor);
m_frontLeftMotor = new Jaguar(frontLeftMotor);
m_frontRightMotor = new Jaguar(frontRightMotor);
for (INT32 i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
SetLeftRightMotorOutputs(0.0, 0.0);
m_deleteSpeedControllers = true;
}
RobotDrive::RobotDrive(std::shared_ptr<SpeedController> frontLeftMotor,
std::shared_ptr<SpeedController> rearLeftMotor,
std::shared_ptr<SpeedController> frontRightMotor,
std::shared_ptr<SpeedController> rearRightMotor) {
InitRobotDrive();
if (frontLeftMotor == nullptr || rearLeftMotor == nullptr ||
frontRightMotor == nullptr || rearRightMotor == nullptr) {
wpi_setWPIError(NullParameter);
return;
}
m_frontLeftMotor = frontLeftMotor;
m_rearLeftMotor = rearLeftMotor;
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
}
/**
* Constructor for RobotDrive with 2 motors specified as SpeedController objects.
* The SpeedController version of the constructor enables programs to use the RobotDrive classes with
* subclasses of the SpeedController objects, for example, versions with ramping or reshaping of
* the curve to suit motor bias or deadband elimination.
* @param leftMotor The left SpeedController object used to drive the robot.
* @param rightMotor the right SpeedController object used to drive the robot.
*/
RobotDrive::RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor)
{
InitRobotDrive();
if (leftMotor == NULL || rightMotor == NULL)
{
wpi_setWPIError(NullParameter);
m_rearLeftMotor = m_rearRightMotor = NULL;
return;
}
m_rearLeftMotor = leftMotor;
m_rearRightMotor = rightMotor;
for (int32_t i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
/**
* Constructor for RobotDrive with 4 motors specified as SpeedController objects.
* Speed controller input version of RobotDrive (see previous comments).
* @param rearLeftMotor The back left SpeedController object used to drive the robot.
* @param frontLeftMotor The front left SpeedController object used to drive the robot
* @param rearRightMotor The back right SpeedController object used to drive the robot.
* @param frontRightMotor The front right SpeedController object used to drive the robot.
*/
RobotDrive::RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
SpeedController *frontRightMotor, SpeedController *rearRightMotor)
{
InitRobotDrive();
if (frontLeftMotor == NULL || rearLeftMotor == NULL || frontRightMotor == NULL || rearRightMotor == NULL)
{
wpi_setWPIError(NullParameter);
return;
}
m_frontLeftMotor = frontLeftMotor;
m_rearLeftMotor = rearLeftMotor;
m_frontRightMotor = frontRightMotor;
m_rearRightMotor = rearRightMotor;
for (INT32 i=0; i < kMaxNumberOfMotors; i++)
{
m_invertedMotors[i] = 1;
}
m_deleteSpeedControllers = false;
}
/**
* Constructor for RobotDrive with 2 motors specified with channel numbers.
* Set up parameters for a two wheel drive system where the
* left and right motor pwm channels are specified in the call.
* This call assumes Talons for controlling the motors.
* @param leftMotorChannel The PWM channel number that drives the left motor.
* 0-9 are on-board, 10-19 are on the MXP port
* @param rightMotorChannel The PWM channel number that drives the right motor.
* 0-9 are on-board, 10-19 are on the MXP port
*/
RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel) {
InitRobotDrive();
m_rearLeftMotor = std::make_shared<Talon>(leftMotorChannel);
m_rearRightMotor = std::make_shared<Talon>(rightMotorChannel);
SetLeftRightMotorOutputs(0.0, 0.0);
}
