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[wpimath] Reorganize LinearSystem factories (#8468)

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This commit is contained in:
Tyler Veness
2026-01-12 19:09:35 -08:00
committed by GitHub
parent 89d0759ef2
commit 00fa8361dd
108 changed files with 1808 additions and 2138 deletions
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4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -6,6 +6,10 @@
#include <vector>
#include "wpi/math/util/ComputerVisionUtil.hpp"
#include "wpi/smartdashboard/SmartDashboard.hpp"
#include "wpi/system/RobotController.hpp"
Drivetrain::Drivetrain() {
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);

9
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.hpp
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@@ -16,19 +16,14 @@
#include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
#include "wpi/math/geometry/Pose2d.hpp"
#include "wpi/math/geometry/Pose3d.hpp"
#include "wpi/math/geometry/Quaternion.hpp"
#include "wpi/math/geometry/Transform3d.hpp"
#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/math/util/ComputerVisionUtil.hpp"
#include "wpi/math/system/Models.hpp"
#include "wpi/nt/DoubleArrayTopic.hpp"
#include "wpi/nt/NetworkTableInstance.hpp"
#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
#include "wpi/simulation/EncoderSim.hpp"
#include "wpi/smartdashboard/Field2d.hpp"
#include "wpi/smartdashboard/SmartDashboard.hpp"
#include "wpi/system/RobotController.hpp"
#include "wpi/system/Timer.hpp"
#include "wpi/units/angle.hpp"
#include "wpi/units/angular_velocity.hpp"
#include "wpi/units/length.hpp"
@@ -174,7 +169,7 @@ class Drivetrain {
wpi::Field2d m_fieldSim;
wpi::Field2d m_fieldApproximation;
wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
wpi::math::Models::DifferentialDriveFromSysId(
1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};