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Removed requirement for odometry to be called in the subsystem.

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thenetworkgrinch
2023-08-29 21:03:58 -05:00
parent 12f6e0ed38
commit 14f66bb679
120 changed files with 353 additions and 1826 deletions
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8
swervelib/math/SwerveMath.java
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@@ -6,6 +6,7 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import java.util.List;
import swervelib.SwerveController;
@@ -365,16 +366,15 @@ public class SwerveMath
/**
* Perform anti-jitter within modules if the speed requested is too low.
*
* @param moduleState Current {@link SwerveModuleState2} requested.
* @param lastModuleState Previous {@link SwerveModuleState2} used.
* @param moduleState Current {@link SwerveModuleState} requested.
* @param lastModuleState Previous {@link SwerveModuleState} used.
* @param maxSpeed Maximum speed of the modules, should be in {@link SwerveDriveConfiguration#maxSpeed}.
*/
public static void antiJitter(SwerveModuleState2 moduleState, SwerveModuleState2 lastModuleState, double maxSpeed)
public static void antiJitter(SwerveModuleState moduleState, SwerveModuleState lastModuleState, double maxSpeed)
{
if (Math.abs(moduleState.speedMetersPerSecond) <= (maxSpeed * 0.01))
{
moduleState.angle = lastModuleState.angle;
moduleState.omegaRadPerSecond = lastModuleState.omegaRadPerSecond;
}
}
}