Outline implementation of DrivetrainSubsystem

README.md

@@ -75,7 +75,7 @@ If unfamiliar with GitHub, go through tutorials in the [Using Git](#using-git) s
 
 #### CppCheck
 
-- Download [CppCheck](https://sourceforge.net/projects/cppcheck/files/1.86/cppcheck-1.86-x64-Setup.msi/download).
+- Download [CppCheck](https://github.com/danmar/cppcheck/releases/download/2.16.0/cppcheck-2.16.0-x64-Setup.msi).
 - If "Add CppCheck to Path" is an option during setup process, select YES.
   - If not, add `C:\Program Files\Cppcheck` to PATH
   - Read [this](https://stackoverflow.com/questions/44272416/how-to-add-a-folder-to-path-environment-variable-in-windows-10-with-screensho) for more information on adding files to PATH.
@@ -181,6 +181,18 @@ To undo the going back:
 
 
 
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src/frc846/cpp/frc846/control/MotorMonkey.cc

@@ -5,13 +5,12 @@
 #include <rev/CANSparkFlex.h>
 #include <rev/CANSparkMax.h>
 
-#include "frc846/control/hardware/TalonFX_interm.h"
-#include "frc846/control/hardware/SparkMXFX_interm.h"
+#include <string>
 
+#include "frc846/control/hardware/SparkMXFX_interm.h"
+#include "frc846/control/hardware/TalonFX_interm.h"
 #include "frc846/math/collection.h"
 
-#include <string>
-
 // TODO: Add dynamic can/power management
 
 namespace frc846::control {

src/frc846/cpp/frc846/control/hardware/SparkMXFX_interm.cc

@@ -1,4 +1,5 @@
 #include "frc846/control/hardware/SparkMXFX_interm.h"
+
 #include "frc846/wpilib/util.h"
 
 namespace frc846::control::hardware {

src/frc846/cpp/frc846/robot/swerve/drivetrain.cc

@@ -0,0 +1,34 @@
+#include "frc846/robot/swerve/drivetrain.h"
+
+namespace frc846::robot::swerve {
+
+DrivetrainSubsystem::DrivetrainSubsystem(DrivetrainConfigs configs, bool enable)
+    : GenericSubsystem{"SwerveDrivetrain"}, configs_{configs}, modules_{} {
+  // TODO: finish
+}
+
+void DrivetrainSubsystem::Setup() {
+  // TODO: finish
+}
+
+DrivetrainTarget DrivetrainSubsystem::ZeroTarget() const {
+  return DrivetrainOLControlTarget{{0_fps, 0_fps}};
+}
+
+bool DrivetrainSubsystem::VerifyHardware() {
+  bool ok = true;
+  // TODO: finish
+  return ok;
+}
+
+DrivetrainReadings DrivetrainSubsystem::ReadFromHardware() {
+  DrivetrainReadings readings;
+  // TODO: finish
+  return readings;
+}
+
+void DrivetrainSubsystem::WriteToHardware(DrivetrainTarget target) {
+  // TODO: finish
+}
+
+}  // namespace frc846::robot::swerve

src/frc846/cpp/frc846/robot/swerve/odometry/swerve_pose.cc

@@ -0,0 +1,30 @@
+#include "frc846/robot/swerve/odometry/swerve_pose.h"
+
+namespace frc846::robot::swerve::odometry {
+
+SwervePose SwervePose::rotate(units::degree_t angle) const {
+  return SwervePose{
+      position.rotate(angle), bearing + angle, velocity.rotate(angle)};
+}
+
+SwervePose SwervePose::translate(frc846::math::Vector2D translation) const {
+  return SwervePose{position + translation, bearing, velocity};
+}
+
+SwervePose SwervePose::extrapolate(units::second_t time) const {
+  return SwervePose{
+      position + frc846::math::Vector2D{velocity[0] * time, velocity[1] * time},
+      bearing, velocity};
+}
+
+SwervePose SwervePose::operator+(const SwervePose& other) const {
+  return SwervePose{position + other.position, bearing + other.bearing,
+      velocity + other.velocity};
+}
+
+SwervePose SwervePose::operator-(const SwervePose& other) const {
+  return SwervePose{position - other.position, bearing - other.bearing,
+      velocity - other.velocity};
+}
+
+}  // namespace frc846::robot::swerve::odometry

src/frc846/cpp/frc846/robot/swerve/swerve_module.cc

@@ -51,4 +51,8 @@ void SwerveModule::WriteToHardware(SwerveModuleTarget target) {
   // TODO: finish. Refer to howler_monkey for open-loop.
 }
 
+void SwerveModule::SetSteerGains(frc846::control::base::MotorGains gains) {
+  steer_.SetGains(gains);
+}
+
 }  // namespace frc846::robot::swerve

src/frc846/include/frc846/control/HigherMotorController.h

@@ -2,15 +2,14 @@
 
 #include <units/torque.h>
 
+#include <optional>
+
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
 #include "frc846/control/config/construction_params.h"
-
 #include "frc846/control/config/soft_limits.h"
 
-#include <optional>
-
 namespace frc846::control {
 
 /*

src/frc846/include/frc846/control/MotorMonkey.h

@@ -5,12 +5,12 @@
 
 #include <ctre/phoenix6/TalonFX.hpp>
 
+#include "frc846/base/Loggable.h"
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
 #include "frc846/control/config/construction_params.h"
 #include "frc846/control/hardware/TalonFX_interm.h"
-#include "frc846/base/Loggable.h"
 
 #define CONTROLLER_REGISTRY_SIZE 64
 

src/frc846/include/frc846/control/calculators/CircuitResistanceCalculator.h

@@ -2,7 +2,7 @@
 
 #include <units/length.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 

src/frc846/include/frc846/control/calculators/CurrentTorqueCalculator.h

@@ -2,7 +2,7 @@
 
 #include "frc846/control/base/motor_control_base.h"
 #include "frc846/control/base/motor_specs.h"
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 

src/frc846/include/frc846/control/calculators/VelocityPositionEstimator.h

@@ -4,7 +4,7 @@
 #include <units/mass.h>
 #include <units/torque.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::calculators {
 

src/frc846/include/frc846/control/config/construction_params.h

@@ -4,7 +4,7 @@
 #include <units/time.h>
 #include <units/voltage.h>
 
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::config {
 

src/frc846/include/frc846/control/config/soft_limits.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <units/angular_velocity.h>
+
 #include <cassert>
 
 namespace frc846::control::config {

src/frc846/include/frc846/control/hardware/SparkMXFX_interm.h

@@ -2,8 +2,9 @@
 
 #include <rev/CANSparkFlex.h>
 #include <rev/CANSparkMax.h>
-#include <variant>
+
 #include <algorithm>
+#include <variant>
 
 #include "IntermediateController.h"
 

src/frc846/include/frc846/control/simulation/MCSimulator.h

@@ -10,7 +10,7 @@
 
 #include "frc846/control/base/motor_gains.h"
 #include "frc846/control/base/motor_specs.h"
-#include "frc846/wpilib/846_units.h"
+#include "frc846/wpilib/units.h"
 
 namespace frc846::control::simulation {
 

src/frc846/include/frc846/math/fieldpoints.h

@@ -12,10 +12,10 @@
 namespace frc846::math {
 
 struct FieldPoint {
-  VectorND<units::foot_t, 2> point;
+  VectorND<units::foot, 2> point;
   units::degree_t bearing;
 
-  VectorND<units::feet_per_second_t, 2> velocity;
+  VectorND<units::feet_per_second, 2> velocity;
 
   // Returns a FieldPoint that is 'mirrored' across the field
   FieldPoint mirror(bool shouldMirror = true) const {