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Update to match new WPILib organization

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This commit is contained in:
Gold856
2025-12-29 16:16:56 -05:00
committed by samfreund
parent c34c854583
commit 934eed21d2
264 changed files with 3440 additions and 3299 deletions
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54
photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h
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@@ -26,9 +26,9 @@
#include <frc/ADXRS450_Gyro.h>
#include <frc/SPI.h>
#include <frc/estimator/SwerveDrivePoseEstimator.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/simulation/ADXRS450_GyroSim.h>
#include <wpi/math/estimator/SwerveDrivePoseEstimator.hpp>
#include <wpi/math/kinematics/wpi/math/kinematics/SwerveDriveKinematics.hpppp>
#include "SwerveDriveSim.h"
#include "SwerveModule.h"
@@ -37,31 +37,31 @@ class SwerveDrive {
public:
SwerveDrive();
void Periodic();
void Drive(units::meters_per_second_t vx, units::meters_per_second_t vy,
units::radians_per_second_t omega);
void SetChassisSpeeds(const frc::ChassisSpeeds& targetChassisSpeeds,
void Drive(wpi::units::meters_per_second_t vx, wpi::units::meters_per_second_t vy,
wpi::units::radians_per_second_t omega);
void SetChassisSpeeds(const wpi::math::ChassisSpeeds& targetChassisSpeeds,
bool openLoop, bool steerInPlace);
void SetModuleStates(
const std::array<frc::SwerveModuleState, 4>& desiredStates, bool openLoop,
bool steerInPlace);
const std::array<wpi::math::SwerveModuleState, 4>& desiredStates,
bool openLoop, bool steerInPlace);
void Stop();
void AddVisionMeasurement(const frc::Pose2d& visionMeasurement,
units::second_t timestamp);
void AddVisionMeasurement(const frc::Pose2d& visionMeasurement,
units::second_t timestamp,
void AddVisionMeasurement(const wpi::math::Pose2d& visionMeasurement,
wpi::units::second_t timestamp);
void AddVisionMeasurement(const wpi::math::Pose2d& visionMeasurement,
wpi::units::second_t timestamp,
const Eigen::Vector3d& stdDevs);
void ResetPose(const frc::Pose2d& pose, bool resetSimPose);
frc::Pose2d GetPose() const;
frc::Rotation2d GetHeading() const;
frc::Rotation2d GetGyroYaw() const;
frc::ChassisSpeeds GetChassisSpeeds() const;
std::array<frc::SwerveModuleState, 4> GetModuleStates() const;
std::array<frc::SwerveModulePosition, 4> GetModulePositions() const;
std::array<frc::Pose2d, 4> GetModulePoses() const;
void ResetPose(const wpi::math::Pose2d& pose, bool resetSimPose);
wpi::math::Pose2d GetPose() const;
wpi::math::Rotation2d GetHeading() const;
wpi::math::Rotation2d GetGyroYaw() const;
wpi::math::ChassisSpeeds GetChassisSpeeds() const;
std::array<wpi::math::SwerveModuleState, 4> GetModuleStates() const;
std::array<wpi::math::SwerveModulePosition, 4> GetModulePositions() const;
std::array<wpi::math::Pose2d, 4> GetModulePoses() const;
void Log();
void SimulationPeriodic();
frc::Pose2d GetSimPose() const;
units::ampere_t GetCurrentDraw() const;
wpi::math::Pose2d GetSimPose() const;
wpi::units::ampere_t GetCurrentDraw() const;
private:
std::array<SwerveModule, 4> swerveMods{
@@ -69,17 +69,17 @@ class SwerveDrive {
SwerveModule{constants::Swerve::FR_CONSTANTS},
SwerveModule{constants::Swerve::BL_CONSTANTS},
SwerveModule{constants::Swerve::BR_CONSTANTS}};
frc::SwerveDriveKinematics<4> kinematics{
wpi::math::SwerveDriveKinematics<4> kinematics{
swerveMods[0].GetModuleConstants().centerOffset,
swerveMods[1].GetModuleConstants().centerOffset,
swerveMods[2].GetModuleConstants().centerOffset,
swerveMods[3].GetModuleConstants().centerOffset,
};
frc::ADXRS450_Gyro gyro{frc::SPI::Port::kOnboardCS0};
frc::SwerveDrivePoseEstimator<4> poseEstimator;
frc::ChassisSpeeds targetChassisSpeeds{};
wpi::ADXRS450_Gyro gyro{wpi::SPI::Port::kOnboardCS0};
wpi::math::SwerveDrivePoseEstimator<4> poseEstimator;
wpi::math::ChassisSpeeds targetChassisSpeeds{};
frc::sim::ADXRS450_GyroSim gyroSim;
wpi::sim::ADXRS450_GyroSim gyroSim;
SwerveDriveSim swerveDriveSim;
units::ampere_t totalCurrentDraw{0};
wpi::units::ampere_t totalCurrentDraw{0};
};