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Removed requirement for odometry to be called in the subsystem.

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This commit is contained in:
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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27
swervelib/simulation/SwerveModuleSimulation.java
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@@ -2,8 +2,8 @@ package swervelib.simulation;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.Timer;
import swervelib.math.SwerveModuleState2;
/**
* Class to hold simulation data for {@link swervelib.SwerveModule}
@@ -15,27 +15,27 @@ public class SwerveModuleSimulation
/**
* Main timer to simulate the passage of time.
*/
private final Timer timer;
private final Timer timer;
/**
* Time delta since last update
*/
private double dt;
private double dt;
/**
* Fake motor position.
*/
private double fakePos;
private double fakePos;
/**
* The fake speed of the previous state, used to calculate {@link SwerveModuleSimulation#fakePos}.
*/
private double fakeSpeed;
private double fakeSpeed;
/**
* Last time queried.
*/
private double lastTime;
private double lastTime;
/**
* Current simulated swerve module state.
*/
private SwerveModuleState2 state;
private SwerveModuleState state;
/**
* Create simulation class and initialize module at 0.
@@ -45,7 +45,7 @@ public class SwerveModuleSimulation
timer = new Timer();
timer.start();
lastTime = timer.get();
state = new SwerveModuleState2(0, Rotation2d.fromDegrees(0), 0);
state = new SwerveModuleState(0, Rotation2d.fromDegrees(0));
fakeSpeed = 0;
fakePos = 0;
dt = 0;
@@ -57,7 +57,7 @@ public class SwerveModuleSimulation
*
* @param desiredState State the swerve module is set to.
*/
public void updateStateAndPosition(SwerveModuleState2 desiredState)
public void updateStateAndPosition(SwerveModuleState desiredState)
{
dt = timer.get() - lastTime;
lastTime = timer.get();
@@ -76,16 +76,15 @@ public class SwerveModuleSimulation
public SwerveModulePosition getPosition()
{
return new SwerveModulePosition(
fakePos, state.angle.plus(new Rotation2d(state.omegaRadPerSecond * dt)));
return new SwerveModulePosition(fakePos, state.angle);
}
/**
* Get the {@link SwerveModuleState2} of the simulated module.
* Get the {@link SwerveModuleState} of the simulated module.
*
* @return {@link SwerveModuleState2} of the simulated module.
* @return {@link SwerveModuleState} of the simulated module.
*/
public SwerveModuleState2 getState()
public SwerveModuleState getState()
{
return state;
}