add MecanumDrive to DriveParameters

Author: cmcgroarty

src/main/java/org/hyperonline/hyperlib/driving/ArcadeDriveParams.java

@@ -1,6 +1,7 @@
 package org.hyperonline.hyperlib.driving;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
 /**
  * A class which represents arcade drive. Arcade drive uses two values: move and
@@ -23,18 +24,15 @@ public class ArcadeDriveParams implements DriveParameters {
     private final boolean m_squareInputs;
 
     /**
-     * Construct a new {@link ArcadeDriveParams}.
-     * 
-     * @param move
-     *            The amount to move forwards or backwards
-     * @param rotate
-     *            The amount to rotate
-     * @param squareInputs
-     *            Whether to square the inputs. This is desirable if the input
-     *            is coming from a joystick, as it creates a "soft deadzone". If
-     *            coming from another source, like a PID controller, this should
-     *            be <code>false</code>.
-     */
+	 * Construct a new {@link ArcadeDriveParams}.
+	 * 
+	 * @param move         The amount to move forwards or backwards
+	 * @param rotate       The amount to rotate
+	 * @param squareInputs Whether to square the inputs. This is desirable if the
+	 *                     input is coming from a joystick, as it creates a "soft
+	 *                     deadzone". If coming from another source, like a PID
+	 *                     controller, this should be <code>false</code>.
+	 */
     public ArcadeDriveParams(double move, double rotate, boolean squareInputs) {
         m_move = move;
         m_rotate = rotate;
@@ -49,6 +47,14 @@ public void drive(DifferentialDrive driveTrain, double currentGyro) {
         driveTrain.arcadeDrive(m_move, m_rotate, m_squareInputs);
     }
 
+	/**
+	 * {@inheritDoc}
+	 */
+    @Override
+    public void drive(MecanumDrive driveTrain, double currentGyro) throws WrongDriveTypeException {
+    	throw new WrongDriveTypeException("using Arcade with MecanumDrive");
+    }
+
     /**
      * Get the move parameter
      * 

src/main/java/org/hyperonline/hyperlib/driving/CartesianDriveParams.java

@@ -0,0 +1,84 @@
+package org.hyperonline.hyperlib.driving;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+
+/**
+ * 
+ * @author Chris McGroarty
+ *
+ */
+public class CartesianDriveParams implements DriveParameters {
+
+	private double m_ySpeed, m_xSpeed, m_zRotate, m_gyroAngle;
+
+	/**
+	 * get the speed on the y-axis
+	 * 
+	 * @return the y-axis speed
+	 */
+	public double ySpeed() {
+		return m_ySpeed;
+	}
+
+	/**
+	 * get the speed on the x-axis
+	 * 
+	 * @return the x-axis speed
+	 */
+	public double xSpeed() {
+		return m_xSpeed;
+	}
+
+	/**
+	 * get the rotation from the z-axis
+	 * 
+	 * @return the z-axis rotation
+	 */
+	public double zRotate() {
+		return m_zRotate;
+	}
+
+	/**
+	 * get the gyro angle
+	 * 
+	 * @return the gyro angle
+	 */
+	public double gyroAngle() {
+		return m_gyroAngle;
+	}
+
+	/**
+	 * Construct a new {@link CartesianDriveParams}.
+	 * 
+	 * @param ySpeed		the speed to move in the y-axis
+	 * @param xSpeed		the speed to move in the x-axis
+	 * @param zRotate		the rotation to apply in the z-axis
+	 * @param gyroAngle		the gyroAngle to use
+	 */
+	public CartesianDriveParams(double ySpeed, double xSpeed, double zRotate, double gyroAngle) {
+		m_ySpeed = ySpeed;
+		m_xSpeed = xSpeed;
+		m_zRotate = zRotate;
+		m_gyroAngle = gyroAngle;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void drive(DifferentialDrive driveTrain, double currentGyro) throws WrongDriveTypeException {
+		throw new WrongDriveTypeException("using Cartesian with DifferentialDrive");
+
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void drive(MecanumDrive driveTrain, double currentGyro) {
+		driveTrain.driveCartesian(m_ySpeed, m_xSpeed, m_zRotate, m_gyroAngle);
+
+	}
+
+}

src/main/java/org/hyperonline/hyperlib/driving/DriveParameters.java

@@ -1,6 +1,7 @@
 package org.hyperonline.hyperlib.driving;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
 
 /**
  * The {@link DriveParameters} interface allows one to use polymorphism to
@@ -19,21 +20,37 @@
  *
  */
 public interface DriveParameters {
-    /**
-     * Drive the robot. This method should not call any "stateful" methods of
-     * the drivetrain (anything that starts with "set") to allow one to switch
-     * between modes easily.
-     * 
-     * TODO: pass a wrapper of DifferentialDrive, which only allows certain methods
-     * TODO: remove currentGyro. This is pretty irrelevant, and can be obtained
-     * in other ways.
-     * 
-     * @param driveTrain
-     *            A {@link DifferentialDrive} object representing the drivetrain of the
-     *            robot.
-     * @param currentGyro
-     *            The current gyro heading, if a gyro exists. Nothing should use
-     *            this right now, so just pass in 0.0 if you're not sure.
-     */
-    void drive(DifferentialDrive driveTrain, double currentGyro);
+	/**
+	 * Drive the robot. This method should not call any "stateful" methods of the
+	 * drivetrain (anything that starts with "set") to allow one to switch between
+	 * modes easily.
+	 * 
+	 * TODO: pass a wrapper of DifferentialDrive, which only allows certain methods
+	 * TODO: remove currentGyro. This is pretty irrelevant, and can be obtained in
+	 * other ways.
+	 * 
+	 * @param driveTrain  A {@link DifferentialDrive} object representing the
+	 *                    drivetrain of the robot.
+	 * @param currentGyro The current gyro heading, if a gyro exists. Nothing should
+	 *                    use this right now, so just pass in 0.0 if you're not
+	 *                    sure.
+	 *                    
+	 * @throws WrongDriveTypeException if an incompatible Drive type is used
+	 */
+	void drive(DifferentialDrive driveTrain, double currentGyro) throws WrongDriveTypeException;
+
+	/**
+	 * Drive the robot. This method should not call any "stateful" methods of the
+	 * drivetrain (anything that starts with "set") to allow one to switch between
+	 * modes easily.
+	 * 
+	 * @param driveTrain  A {@link MecanumDrive} object representing the drivetrain
+	 *                    of the robot.
+	 * @param currentGyro The current gyro heading, if a gyro exists. Nothing should
+	 *                    use this right now, so just pass in 0.0 if you're not
+	 *                    sure.
+	 *                    
+	 * @throws WrongDriveTypeException if an incompatible Drive type is used
+	 */
+	void drive(MecanumDrive driveTrain, double currentGyro) throws WrongDriveTypeException;
 }

src/main/java/org/hyperonline/hyperlib/driving/PolarDriveParams.java

@@ -0,0 +1,72 @@
+package org.hyperonline.hyperlib.driving;
+
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+
+/**
+ * 
+ * @author Chris McGroarty
+ *
+ */
+public class PolarDriveParams implements DriveParameters {
+
+	private double m_magnitude, m_angle, m_zRotation;
+
+	/**
+	 * get the magnitude
+	 * 
+	 * @return the magnitude
+	 */
+	public double magnitude() {
+		return m_magnitude;
+	}
+
+	/**
+	 * get the angle
+	 * 
+	 * @return the angle
+	 */
+	public double angle() {
+		return m_angle;
+	}
+
+	/**
+	 * get the rotation
+	 * 
+	 * @return the z-axis rotation
+	 */
+	public double rotate() {
+		return m_zRotation;
+	}
+
+	/**
+	 * Construct a new {@link PolarDriveParams}.
+	 * 
+	 * @param magnitude 	the amount to move
+	 * @param angle 		the angle to move at
+	 * @param rotate 		the rotation to apply
+	 */
+	public PolarDriveParams(double magnitude, double angle, double rotate) {
+		m_magnitude = magnitude;
+		m_angle = angle;
+		m_zRotation = rotate;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void drive(DifferentialDrive driveTrain, double currentGyro) throws WrongDriveTypeException {
+		throw new WrongDriveTypeException("using Polar with DifferentialDrive");
+
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public void drive(MecanumDrive driveTrain, double currentGyro) {
+		driveTrain.drivePolar(m_magnitude, m_angle, m_zRotation);
+	}
+
+}