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PJ Reiniger
2025-11-07 19:57:55 -05:00
committed by Peter Johnson
parent c48b722dac
commit 1e7604f81c
1218 changed files with 2709 additions and 3267 deletions
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2
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -4,7 +4,7 @@
#include "Drivetrain.hpp"
#include "wpi/system/RobotController.hpp"
#include <wpi/system/RobotController.hpp>
void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
auto leftFeedforward = m_feedforward.Calculate(speeds.left);

12
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
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@@ -2,12 +2,12 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "wpi/opmode/TimedRobot.hpp"
#include "wpi/system/Timer.hpp"
#include "wpi/driverstation/XboxController.hpp"
#include "wpi/math/controller/LTVUnicycleController.hpp"
#include "wpi/math/filter/SlewRateLimiter.hpp"
#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
#include <wpi/driverstation/XboxController.hpp>
#include <wpi/math/controller/LTVUnicycleController.hpp>
#include <wpi/math/filter/SlewRateLimiter.hpp>
#include <wpi/math/trajectory/TrajectoryGenerator.hpp>
#include <wpi/opmode/TimedRobot.hpp>
#include <wpi/system/Timer.hpp>
#include "Drivetrain.hpp"

32
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
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@@ -6,22 +6,22 @@
#include <numbers>
#include "wpi/hardware/rotation/Encoder.hpp"
#include "wpi/hardware/imu/OnboardIMU.hpp"
#include "wpi/math/controller/PIDController.hpp"
#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
#include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
#include "wpi/hardware/motor/PWMSparkMax.hpp"
#include "wpi/simulation/DifferentialDrivetrainSim.hpp"
#include "wpi/simulation/EncoderSim.hpp"
#include "wpi/smartdashboard/Field2d.hpp"
#include "wpi/smartdashboard/SmartDashboard.hpp"
#include "wpi/math/system/plant/LinearSystemId.hpp"
#include "wpi/units/angle.hpp"
#include "wpi/units/angular_velocity.hpp"
#include "wpi/units/length.hpp"
#include "wpi/units/velocity.hpp"
#include <wpi/hardware/imu/OnboardIMU.hpp>
#include <wpi/hardware/motor/PWMSparkMax.hpp>
#include <wpi/hardware/rotation/Encoder.hpp>
#include <wpi/math/controller/PIDController.hpp>
#include <wpi/math/controller/SimpleMotorFeedforward.hpp>
#include <wpi/math/kinematics/DifferentialDriveKinematics.hpp>
#include <wpi/math/kinematics/DifferentialDriveOdometry.hpp>
#include <wpi/math/system/plant/LinearSystemId.hpp>
#include <wpi/simulation/DifferentialDrivetrainSim.hpp>
#include <wpi/simulation/EncoderSim.hpp>
#include <wpi/smartdashboard/Field2d.hpp>
#include <wpi/smartdashboard/SmartDashboard.hpp>
#include <wpi/units/angle.hpp>
#include <wpi/units/angular_velocity.hpp>
#include <wpi/units/length.hpp>
#include <wpi/units/velocity.hpp>
/**
* Represents a differential drive style drivetrain.