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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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6
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -13,14 +13,16 @@ wpi::math::MecanumDriveWheelSpeeds Drivetrain::GetCurrentState() const {
wpi::units::meters_per_second_t{m_backRightEncoder.GetRate()}};
}
wpi::math::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances() const {
wpi::math::MecanumDriveWheelPositions Drivetrain::GetCurrentWheelDistances()
const {
return {wpi::units::meter_t{m_frontLeftEncoder.GetDistance()},
wpi::units::meter_t{m_frontRightEncoder.GetDistance()},
wpi::units::meter_t{m_backLeftEncoder.GetDistance()},
wpi::units::meter_t{m_backRightEncoder.GetDistance()}};
}
void Drivetrain::SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds) {
void Drivetrain::SetSpeeds(
const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds) {
const auto frontLeftFeedforward =
m_feedforward.Calculate(wheelSpeeds.frontLeft);
const auto frontRightFeedforward =

12
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.hpp
View File

@@ -34,8 +34,9 @@ class Drivetrain {
wpi::math::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
void SetSpeeds(const wpi::math::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::meters_per_second_t ySpeed, wpi::units::radians_per_second_t rot,
bool fieldRelative, wpi::units::second_t period);
wpi::units::meters_per_second_t ySpeed,
wpi::units::radians_per_second_t rot, bool fieldRelative,
wpi::units::second_t period);
void UpdateOdometry();
static constexpr wpi::units::meters_per_second_t kMaxSpeed =
@@ -70,10 +71,11 @@ class Drivetrain {
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
wpi::math::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
GetCurrentWheelDistances()};
wpi::math::MecanumDriveOdometry m_odometry{
m_kinematics, m_imu.GetRotation2d(), GetCurrentWheelDistances()};
// Gains are for example purposes only - must be determined for your own
// robot!
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
1_V, 3_V / 1_mps};
};