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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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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{