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Upgrade to wpilib alpha-6 (#2434)

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This commit is contained in:
Sam Freund
2026-05-26 21:47:48 -04:00
committed by GitHub
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
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photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h
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@@ -24,6 +24,7 @@
#pragma once
#include <frc/simulation/OnboardIMUSim.h>
#include <wpi/hardware/imu/OnboardIMU.hpp>
#include <wpi/math/estimator/SwerveDrivePoseEstimator.hpp>
#include <wpi/math/kinematics/wpi/math/kinematics/SwerveDriveKinematics.hpppp>
@@ -73,8 +74,7 @@ class SwerveDrive {
wpi::math::SwerveDrivePoseEstimator<4> poseEstimator;
wpi::math::ChassisSpeeds targetChassisSpeeds{};
// TODO(Jade) onboard imu doesn't have sim yet
// wpi::sim::ADXRS450_GyroSim gyroSim;
wpi::sim::OnboardIMUSim gyroSim;
SwerveDriveSim swerveDriveSim;
wpi::units::ampere_t totalCurrentDraw{0};
};