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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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8
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.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. */
@@ -11,6 +11,7 @@
#include <frc/PWMVictorSPX.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <wpi/math>
@@ -41,4 +42,9 @@ class SwerveModule {
0.0,
0.0,
{kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
frc::SimpleMotorFeedforward<units::meter> m_driveFeedforward{1_V,
3_V / 1_mps};
frc::SimpleMotorFeedforward<units::radians> m_turnFeedforward{
1_V, 0.5_V / 1_rad_per_s};
};