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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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9
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -6,7 +6,8 @@
#include <wpi/system/RobotController.hpp>
void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
void Drivetrain::SetSpeeds(
const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
auto leftFeedforward = m_feedforward.Calculate(speeds.left);
auto rightFeedforward = m_feedforward.Calculate(speeds.right);
double leftOutput = m_leftPIDController.Calculate(m_leftEncoder.GetRate(),
@@ -31,9 +32,9 @@ void Drivetrain::UpdateOdometry() {
void Drivetrain::ResetOdometry(const wpi::math::Pose2d& pose) {
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_imu.GetRotation2d(),
wpi::units::meter_t{m_leftEncoder.GetDistance()},
wpi::units::meter_t{m_rightEncoder.GetDistance()}, pose);
m_odometry.ResetPosition(
m_imu.GetRotation2d(), wpi::units::meter_t{m_leftEncoder.GetDistance()},
wpi::units::meter_t{m_rightEncoder.GetDistance()}, pose);
}
void Drivetrain::SimulationPeriodic() {

3
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
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@@ -15,7 +15,8 @@ class Robot : public wpi::TimedRobot {
public:
Robot() {
m_trajectory = wpi::math::TrajectoryGenerator::GenerateTrajectory(
wpi::math::Pose2d{2_m, 2_m, 0_rad}, {}, wpi::math::Pose2d{6_m, 4_m, 0_rad},
wpi::math::Pose2d{2_m, 2_m, 0_rad}, {},
wpi::math::Pose2d{6_m, 4_m, 0_rad},
wpi::math::TrajectoryConfig(2_mps, 2_mps_sq));
}

3
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
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@@ -96,7 +96,8 @@ class Drivetrain {
// 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};
// Simulation classes help us simulate our robot
wpi::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};