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Add feed-forward and slew rate limiting to advanced drive examples (#2301)

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This commit is contained in:
Oblarg
2020-01-23 21:07:38 -05:00
committed by Peter Johnson
parent 1cee5ccb93
commit 0ab81d768f
16 changed files with 192 additions and 67 deletions
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7
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -12,6 +12,7 @@
#include <frc/PWMVictorSPX.h>
#include <frc/SpeedControllerGroup.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <units/units.h>
@@ -77,4 +78,8 @@ class Drivetrain {
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveOdometry m_odometry{GetAngle()};
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
};