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Merge pull request #49 from Team334/driver-controls
Driver Logic
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.utils; | ||
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| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.math.geometry.Translation2d; | ||
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| /** Poses for alignment. */ | ||
| public class AlignPoses { | ||
| private final Pose2d _left; | ||
| private final Pose2d _center; | ||
| private final Pose2d _right; | ||
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| public static enum AlignSide { | ||
| LEFT, | ||
| CENTER, | ||
| RIGHT | ||
| } | ||
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| public Pose2d getLeft() { | ||
| return _left; | ||
| } | ||
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| public Pose2d getCenter() { | ||
| return _center; | ||
| } | ||
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| public Pose2d getRight() { | ||
| return _right; | ||
| } | ||
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| /** Setup align poses for three positions */ | ||
| public AlignPoses(Pose2d left, Pose2d center, Pose2d right) { | ||
| _left = left; | ||
| _center = center; | ||
| _right = right; | ||
| } | ||
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| /** Setup align pose for center */ | ||
| public AlignPoses(Pose2d center) { | ||
| this(center, center, center); | ||
| } | ||
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| /** Get pose depending on side. */ | ||
| public Pose2d getPose(AlignSide side) { | ||
| switch (side) { | ||
| case LEFT: | ||
| return getLeft(); | ||
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| case CENTER: | ||
| return getCenter(); | ||
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| case RIGHT: | ||
| return getRight(); | ||
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| default: | ||
| return Pose2d.kZero; | ||
| } | ||
| } | ||
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| /** Rotates all the poses around a point. */ | ||
| public AlignPoses rotateAround(Translation2d point, Rotation2d rot) { | ||
| return new AlignPoses( | ||
| new Pose2d(_left.getTranslation().rotateAround(point, rot), _left.getRotation().plus(rot)), | ||
| new Pose2d( | ||
| _center.getTranslation().rotateAround(point, rot), _center.getRotation().plus(rot)), | ||
| new Pose2d( | ||
| _right.getTranslation().rotateAround(point, rot), _right.getRotation().plus(rot))); | ||
| } | ||
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| /** Offset the points by a transformation */ | ||
| public AlignPoses offset(double x, double y) { | ||
| return new AlignPoses( | ||
| new Pose2d(_left.getX() + x, _left.getY() + y, _left.getRotation()), | ||
| new Pose2d(_center.getX() + x, _center.getY() + y, _center.getRotation()), | ||
| new Pose2d(_right.getX() + x, _right.getY() + y, _right.getRotation())); | ||
| } | ||
| } |