RobotDrive.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef ROBOTDRIVE_H_
#define ROBOTDRIVE_H_

#include "ErrorBase.h"
#include <stdlib.h>
#include <vxWorks.h>
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"

class SpeedController;
class GenericHID;

class RobotDrive: public MotorSafety, public ErrorBase
{
public:
        typedef enum
        {
                kFrontLeftMotor = 0,
                kFrontRightMotor = 1,
                kRearLeftMotor = 2,
                kRearRightMotor = 3
        } MotorType;

        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();

        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);
        float GetExpiration();
        bool IsAlive();
        void StopMotor();
        bool IsSafetyEnabled();
        void SetSafetyEnabled(bool enabled);
        void GetDescription(char *desc);

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;
        double m_maxOutput;
        bool m_deleteSpeedControllers;
        SpeedController *m_frontLeftMotor;
        SpeedController *m_frontRightMotor;
        SpeedController *m_rearLeftMotor;
        SpeedController *m_rearRightMotor;
        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;
        }
        DISALLOW_COPY_AND_ASSIGN(RobotDrive);
};

#endif