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[examples] Fix Swerve and Mecanum examples (#3359)

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Fix encoder allocation and default command.
Fixes #3349
This commit is contained in:
sciencewhiz
2021-05-15 21:39:00 -07:00
committed by GitHub
parent 80b479e502
commit 1873fbefba
12 changed files with 61 additions and 35 deletions
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2
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Constants.h
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@@ -34,7 +34,7 @@ constexpr int kRearRightMotorPort = 3;
constexpr int kFrontLeftEncoderPorts[]{0, 1};
constexpr int kRearLeftEncoderPorts[]{2, 3};
constexpr int kFrontRightEncoderPorts[]{4, 5};
constexpr int kRearRightEncoderPorts[]{5, 6};
constexpr int kRearRightEncoderPorts[]{6, 7};
constexpr bool kFrontLeftEncoderReversed = false;
constexpr bool kRearLeftEncoderReversed = true;

4
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
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@@ -36,8 +36,8 @@ class SwerveModule {
frc::PWMSparkMax m_driveMotor;
frc::PWMSparkMax m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};
frc::Encoder m_driveEncoder;
frc::Encoder m_turningEncoder;
frc2::PIDController m_drivePIDController{1.0, 0, 0};
frc::ProfiledPIDController<units::radians> m_turningPIDController{

10
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
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@@ -39,17 +39,17 @@ constexpr int kRearRightTurningMotorPort = 7;
constexpr int kFrontLeftTurningEncoderPorts[2]{0, 1};
constexpr int kRearLeftTurningEncoderPorts[2]{2, 3};
constexpr int kFrontRightTurningEncoderPorts[2]{4, 5};
constexpr int kRearRightTurningEncoderPorts[2]{5, 6};
constexpr int kRearRightTurningEncoderPorts[2]{6, 7};
constexpr bool kFrontLeftTurningEncoderReversed = false;
constexpr bool kRearLeftTurningEncoderReversed = true;
constexpr bool kFrontRightTurningEncoderReversed = false;
constexpr bool kRearRightTurningEncoderReversed = true;
constexpr int kFrontLeftDriveEncoderPorts[2]{0, 1};
constexpr int kRearLeftDriveEncoderPorts[2]{2, 3};
constexpr int kFrontRightDriveEncoderPorts[2]{4, 5};
constexpr int kRearRightDriveEncoderPorts[2]{5, 6};
constexpr int kFrontLeftDriveEncoderPorts[2]{8, 9};
constexpr int kRearLeftDriveEncoderPorts[2]{10, 11};
constexpr int kFrontRightDriveEncoderPorts[2]{12, 13};
constexpr int kRearRightDriveEncoderPorts[2]{14, 15};
constexpr bool kFrontLeftDriveEncoderReversed = false;
constexpr bool kRearLeftDriveEncoderReversed = true;

11
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
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@@ -8,8 +8,15 @@
#include <wpi/math>
SwerveModule::SwerveModule(const int driveMotorChannel,
const int turningMotorChannel)
: m_driveMotor(driveMotorChannel), m_turningMotor(turningMotorChannel) {
const int turningMotorChannel,
const int driveEncoderChannelA,
const int driveEncoderChannelB,
const int turningEncoderChannelA,
const int turningEncoderChannelB)
: m_driveMotor(driveMotorChannel),
m_turningMotor(turningMotorChannel),
m_driveEncoder(driveEncoderChannelA, driveEncoderChannelB),
m_turningEncoder(turningEncoderChannelA, turningEncoderChannelB) {
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.

8
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
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@@ -35,10 +35,10 @@ class Drivetrain {
frc::Translation2d m_backLeftLocation{-0.381_m, +0.381_m};
frc::Translation2d m_backRightLocation{-0.381_m, -0.381_m};
SwerveModule m_frontLeft{1, 2};
SwerveModule m_frontRight{2, 3};
SwerveModule m_backLeft{5, 6};
SwerveModule m_backRight{7, 8};
SwerveModule m_frontLeft{1, 2, 0, 1, 2, 3};
SwerveModule m_frontRight{2, 3, 4, 5, 6, 7};
SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
frc::AnalogGyro m_gyro{0};

8
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/SwerveModule.h
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@@ -18,7 +18,9 @@
class SwerveModule {
public:
SwerveModule(int driveMotorChannel, int turningMotorChannel);
SwerveModule(int driveMotorChannel, int turningMotorChannel,
int driveEncoderChannelA, int driveEncoderChannelB,
int turningEncoderChannelA, int turningEncoderChannelB);
frc::SwerveModuleState GetState() const;
void SetDesiredState(const frc::SwerveModuleState& state);
@@ -34,8 +36,8 @@ class SwerveModule {
frc::PWMSparkMax m_driveMotor;
frc::PWMSparkMax m_turningMotor;
frc::Encoder m_driveEncoder{0, 1};
frc::Encoder m_turningEncoder{2, 3};
frc::Encoder m_driveEncoder;
frc::Encoder m_turningEncoder;
frc2::PIDController m_drivePIDController{1.0, 0, 0};
frc::ProfiledPIDController<units::radians> m_turningPIDController{