/// <summary>
/// Constructor for RobotDrive with 4 motors specified as <see cref="ISpeedController"/> objects.
/// </summary>
/// <remarks>The <see cref="ISpeedController"/> version of the constructor enables programs to use
/// RobotDrive classes with subclasses of the <see cref="ISpeedController"/> objects.</remarks>
/// <param name="frontLeftMotor">The <see cref="ISpeedController"/> controlling the Front Left Motor</param>
/// <param name="rearLeftMotor">The <see cref="ISpeedController"/> controlling the Rear Left Motor</param>
/// <param name="frontRightMotor">The <see cref="ISpeedController"/> controlling the Front Right Motor</param>
/// <param name="rearRightMotor">The <see cref="ISpeedController"/> controlling the Rear Right Motor</param>
public RobotDrive(ISpeedController frontLeftMotor, ISpeedController rearLeftMotor,
ISpeedController frontRightMotor, ISpeedController rearRightMotor)
{
if (frontLeftMotor == null)
{
throw new ArgumentNullException(nameof(frontLeftMotor), "Null Motor Controller Provided");
}
if (frontRightMotor == null)
{
throw new ArgumentNullException(nameof(frontRightMotor), "Null Motor Controller Provided");
}
if (rearLeftMotor == null)
{
throw new ArgumentNullException(nameof(rearLeftMotor), "Null Motor Controller Provided");
}
if (rearRightMotor == null)
{
throw new ArgumentNullException(nameof(rearRightMotor), "Null Motor Controller Provided");
}
FrontLeftMotor = frontLeftMotor;
RearLeftMotor = rearLeftMotor;
FrontRightMotor = frontRightMotor;
RearRightMotor = rearRightMotor;
Sensitivity = DefaultSensitivity;
MaxOutput = DefaultMaxOutput;
AllocatedSpeedControllers = false;
SetupMotorSafety();
Drive(0, 0);
}
public static void SetVoltage(this ISpeedController @this, ElectricPotential potential)
{
if (@this == null)
{
throw new ArgumentNullException(nameof(@this));
}
@this.Set(potential / RobotController.BatteryVoltage);
}
/// <summary>
/// Constructor for RobotDrive with 2 motors specified with channel numbers.
/// </summary>
/// <remarks>Sets up parameters for a two motor drive system where the left
/// and right motor channels are specified in the call. This call assumes Talons
/// for controlling the motors.</remarks>
/// <param name="leftMotorChannel">The PWM channel number that drives the left motor</param>
/// <param name="rightMotorChannel">The PWM channel number that drives the right motor</param>
public RobotDrive(int leftMotorChannel, int rightMotorChannel)
{
Sensitivity = DefaultSensitivity;
MaxOutput = DefaultMaxOutput;
FrontLeftMotor = null;
RearLeftMotor = new Talon(leftMotorChannel);
FrontRightMotor = null;
RearRightMotor = new Talon(rightMotorChannel);
AllocatedSpeedControllers = true;
SetupMotorSafety();
Drive(0, 0);
}
/// <summary>
/// Constructor for RobotDrive with 2 motors specified with channel numbers.
/// </summary>
/// <remarks>Sets up parameters for a two motor drive system where the left
/// and right motor channels are specified in the call. This call assumes Talons
/// for controlling the motors.</remarks>
/// <param name="leftMotorChannel">The PWM channel number that drives the left motor</param>
/// <param name="rightMotorChannel">The PWM channel number that drives the right motor</param>
public RobotDrive(int leftMotorChannel, int rightMotorChannel)
{
m_sensitivity = DefaultSensitivity;
m_maxOutput = DefaultMaxOutput;
m_frontLeftMotor = null;
m_rearLeftMotor = new Talon(leftMotorChannel);
m_frontRightMotor = null;
m_rearRightMotor = new Talon(rightMotorChannel);
m_allocatedSpeedControllers = true;
SetupMotorSafety();
Drive(0, 0);
}
/// <summary>
/// Constructor for RobotDrive with 4 motors specified with channel numbers.
/// </summary>
/// <remarks>Sets up parameters for a two motor drive system where the left
/// and right motor channels are specified in the call. This call assumes Talons
/// for controlling the motors.</remarks>
/// <param name="frontLeftMotor">The PWM Channel that drives the Front Left Motor</param>
/// <param name="rearLeftMotor">The PWM Channel that drives the Rear Left Motor</param>
/// <param name="frontRightMotor">The PWM Channel that drives the Front Right Motor</param>
/// <param name="rearRightMotor">The PWM Channel that drives the Rear Right Motor</param>
public RobotDrive(int frontLeftMotor, int rearLeftMotor,
int frontRightMotor, int rearRightMotor)
{
Sensitivity = DefaultSensitivity;
MaxOutput = DefaultMaxOutput;
RearLeftMotor = new Talon(rearLeftMotor);
RearRightMotor = new Talon(rearRightMotor);
FrontLeftMotor = new Talon(frontLeftMotor);
FrontRightMotor = new Talon(frontRightMotor);
AllocatedSpeedControllers = true;
SetupMotorSafety();
Drive(0, 0);
}
/// <summary>
/// Creates a new instance of EncoderPID with the supplied speed controller and PIDF values.
/// </summary>
/// <param name="speedController">Speed controller to use, such as <c>CANTalon</c> or <c>Spark</c></param>
/// <param name="encoder">Encoder for measuring positional data.</param>
/// <param name="kP">Proportional gain.</param>
/// <param name="kI">Integral gain.</param>
/// <param name="kD">Derivative gain.</param>
/// <param name="kF">Filter gain.</param>
public EncoderPID(ISpeedController speedController, Encoder encoder, double kP, double kI, double kD, double kF)
{
// Set the speed controller equal to something.
_SpeedController = speedController;
// Create a new instance of the PID controller.
Controller = new PIDController(kP, kI, kD, kF, encoder, this);
// Set the inputs for the encoder. Limits the range it can go.
Controller.SetInputRange(0, 100);
// Sets the output range of the motor.
Controller.SetOutputRange(-0.5, 0.5);
}
private void Initialize()
{
lock (this)
{
if (!initialized)
{
initialized = true;
aSource = GiveDigitalInputA();
bSource = GiveDigitalInputB();
encoder = new Encoder(aSource, bSource);
counters[0] = new Counter(aSource);
counters[1] = new Counter(bSource);
motor = GiveSpeedController();
}
}
}
private void Initialize()
{
lock (this)
{
if (!m_initialized)
{
m_initialized = true;
m_aSource = GiveDigitalInputA();
m_bSource = GiveDigitalInputB();
m_encoder = new Encoder(m_aSource, m_bSource);
m_counters[0] = new Counter(m_aSource);
m_counters[1] = new Counter(m_bSource);
m_motor = GiveSpeedController();
}
}
}
/// <summary>
/// Constructor for RobotDrive with 4 motors specified with channel numbers.
/// </summary>
/// <remarks>Sets up parameters for a two motor drive system where the left
/// and right motor channels are specified in the call. This call assumes Talons
/// for controlling the motors.</remarks>
/// <param name="frontLeftMotor">The PWM Channel that drives the Front Left Motor</param>
/// <param name="rearLeftMotor">The PWM Channel that drives the Rear Left Motor</param>
/// <param name="frontRightMotor">The PWM Channel that drives the Front Right Motor</param>
/// <param name="rearRightMotor">The PWM Channel that drives the Rear Right Motor</param>
public RobotDrive(int frontLeftMotor, int rearLeftMotor,
int frontRightMotor, int rearRightMotor)
{
Sensitivity = DefaultSensitivity;
MaxOutput = DefaultMaxOutput;
RearLeftMotor = new Talon(rearLeftMotor);
RearRightMotor = new Talon(rearRightMotor);
FrontLeftMotor = new Talon(frontLeftMotor);
FrontRightMotor = new Talon(frontRightMotor);
AllocatedSpeedControllers = true;
SetupMotorSafety();
Drive(0, 0);
}
public bool Teardown()
{
var type = motor != null ? GetCustomType() : "null";
if (!tornDown)
{
bool wasNull = false;
var pwm = motor as PWM;
if (pwm != null && motor != null) {
pwm.Dispose();
motor = null;
} else if (motor == null)
wasNull = true;
if (encoder != null)
{
encoder.Dispose();
encoder = null;
}
else
wasNull = true;
if (counters[0] != null)
{
counters[0].Dispose();
counters[0] = null;
}
else
wasNull = true;
if (counters[1] != null)
{
counters[1].Dispose();
counters[1] = null;
}
else
wasNull = true;
if (aSource != null)
{
aSource.Dispose();
aSource = null;
}
else
wasNull = true;
if (bSource != null)
{
bSource.Dispose();
bSource = null;
}
else
wasNull = true;
tornDown = true;
if (wasNull)
{
throw new NullReferenceException("MotorEncoderFixture had null params at teardown");
}
}
else
{
throw new SystemException(type + " Motor Encoder torn down multiple times");
}
return true;
}
public virtual bool Teardown()
{
var type = m_motor != null?GetCustomType() : "null";
if (!m_tornDown)
{
bool wasNull = false;
var pwm = m_motor as PWM;
if (pwm != null && m_motor != null)
{
pwm.Dispose();
m_motor = null;
}
else if (m_motor == null)
{
wasNull = true;
}
if (m_encoder != null)
{
m_encoder.Dispose();
m_encoder = null;
}
else
{
wasNull = true;
}
if (m_counters[0] != null)
{
m_counters[0].Dispose();
m_counters[0] = null;
}
else
{
wasNull = true;
}
if (m_counters[1] != null)
{
m_counters[1].Dispose();
m_counters[1] = null;
}
else
{
wasNull = true;
}
if (m_aSource != null)
{
m_aSource.Dispose();
m_aSource = null;
}
else
{
wasNull = true;
}
if (m_bSource != null)
{
m_bSource.Dispose();
m_bSource = null;
}
else
{
wasNull = true;
}
m_tornDown = true;
if (wasNull)
{
throw new NullReferenceException("MotorEncoderFixture had null params at teardown");
}
}
else
{
throw new SystemException(type + " Motor Encoder torn down multiple times");
}
return(true);
}
/// <summary>
/// Creates a new instance of EncoderPID with the supplied speed controller and PIDF values.
/// </summary>
/// <param name="speedController">Speed controller to use, such as <c>CANTalon</c> or <c>Spark</c></param>
/// <param name="encoder">Encoder for measuring positional data.</param>
/// <param name="values">The PIDF values to use.</param>
public EncoderPID(ISpeedController speedController, Encoder encoder, PIDF values)
: this(speedController, encoder, values.kP, values.kI, values.kD, values.kF)
{
}
/// <summary>
/// Constructor for RobotDrive with 2 motors specified as <see cref="ISpeedController"/> objects.
/// </summary>
/// <remarks>The <see cref="ISpeedController"/> version of the constructor enables programs to use
/// RobotDrive classes with subclasses of the <see cref="ISpeedController"/> objects.</remarks>
/// <param name="leftMotor">The <see cref="ISpeedController"/> controlling the Left Motor</param>
/// <param name="rightMotor">The <see cref="ISpeedController"/> controlling the Right Motor</param>
public RobotDrive(ISpeedController leftMotor, ISpeedController rightMotor)
{
if (leftMotor == null)
{
throw new ArgumentNullException(nameof(leftMotor), "Null Motor Controller Provided");
}
if (rightMotor == null)
{
throw new ArgumentNullException(nameof(rightMotor), "Null Motor Controller Provided");
}
m_frontLeftMotor = null;
m_rearLeftMotor = leftMotor;
m_frontRightMotor = null;
m_rearRightMotor = rightMotor;
m_sensitivity = DefaultSensitivity;
m_maxOutput = DefaultMaxOutput;
m_allocatedSpeedControllers = false;
SetupMotorSafety();
Drive(0, 0);
}
public DriveTrainObject(ISpeedController frontLeftMotor, ISpeedController rearLeftMotor, ISpeedController frontRightMotor, ISpeedController rearRightMotor)
: base(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor)
{
}
/// <summary>
/// Constructor for RobotDrive with 4 motors specified as <see cref="ISpeedController"/> objects.
/// </summary>
/// <remarks>The <see cref="ISpeedController"/> version of the constructor enables programs to use
/// RobotDrive classes with subclasses of the <see cref="ISpeedController"/> objects.</remarks>
/// <param name="frontLeftMotor">The <see cref="ISpeedController"/> controlling the Front Left Motor</param>
/// <param name="rearLeftMotor">The <see cref="ISpeedController"/> controlling the Rear Left Motor</param>
/// <param name="frontRightMotor">The <see cref="ISpeedController"/> controlling the Front Right Motor</param>
/// <param name="rearRightMotor">The <see cref="ISpeedController"/> controlling the Rear Right Motor</param>
public RobotDrive(ISpeedController frontLeftMotor, ISpeedController rearLeftMotor,
ISpeedController frontRightMotor, ISpeedController rearRightMotor)
{
if (frontLeftMotor == null)
{
throw new ArgumentNullException(nameof(frontLeftMotor), "Null Motor Controller Provided");
}
if (frontRightMotor == null)
{
throw new ArgumentNullException(nameof(frontRightMotor), "Null Motor Controller Provided");
}
if (rearLeftMotor == null)
{
throw new ArgumentNullException(nameof(rearLeftMotor), "Null Motor Controller Provided");
}
if (rearRightMotor == null)
{
throw new ArgumentNullException(nameof(rearRightMotor), "Null Motor Controller Provided");
}
FrontLeftMotor = frontLeftMotor;
RearLeftMotor = rearLeftMotor;
FrontRightMotor = frontRightMotor;
RearRightMotor = rearRightMotor;
Sensitivity = DefaultSensitivity;
MaxOutput = DefaultMaxOutput;
AllocatedSpeedControllers = false;
SetupMotorSafety();
Drive(0, 0);
}
public Quadcopter(ISpeedController controller)
{
controller = _controller;
}
/// <summary>
/// Wraps an existing <see cref="ISpeedController"/> with <see cref="RampMotor{T}"/>
/// </summary>
/// <param name="motorController">existing Motor Controller</param>
public RampMotor(ISpeedController motorController)
{
m_controller = motorController;
MaxChange = 1;
m_power = 0;
}
private void Initialize()
{
lock (this)
{
if (!m_initialized)
{
m_initialized = true;
m_aSource = GiveDigitalInputA();
m_bSource = GiveDigitalInputB();
m_encoder = new Encoder(m_aSource, m_bSource);
m_counters[0] = new Counter(m_aSource);
m_counters[1] = new Counter(m_bSource);
m_motor = GiveSpeedController();
}
}
}
