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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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12
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Robot.cpp
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@@ -31,23 +31,23 @@ class Robot : public wpi::TimedRobot {
void DriveWithJoystick(bool fieldRelative) {
// Get the x speed. We are inverting this because Xbox controllers return
// negative values when we push forward.
const auto xSpeed = -m_xspeedLimiter.Calculate(
wpi::math::ApplyDeadband(m_controller.GetLeftY(), 0.02)) *
const auto xSpeed = -m_xspeedLimiter.Calculate(wpi::math::ApplyDeadband(
m_controller.GetLeftY(), 0.02)) *
Drivetrain::kMaxSpeed;
// Get the y speed or sideways/strafe speed. We are inverting this because
// we want a positive value when we pull to the left. Xbox controllers
// return positive values when you pull to the right by default.
const auto ySpeed = -m_yspeedLimiter.Calculate(
wpi::math::ApplyDeadband(m_controller.GetLeftX(), 0.02)) *
const auto ySpeed = -m_yspeedLimiter.Calculate(wpi::math::ApplyDeadband(
m_controller.GetLeftX(), 0.02)) *
Drivetrain::kMaxSpeed;
// Get the rate of angular rotation. We are inverting this because we want a
// positive value when we pull to the left (remember, CCW is positive in
// mathematics). Xbox controllers return positive values when you pull to
// the right by default.
const auto rot = -m_rotLimiter.Calculate(
wpi::math::ApplyDeadband(m_controller.GetRightX(), 0.02)) *
const auto rot = -m_rotLimiter.Calculate(wpi::math::ApplyDeadband(
m_controller.GetRightX(), 0.02)) *
Drivetrain::kMaxAngularSpeed;
m_swerve.Drive(xSpeed, ySpeed, rot, fieldRelative, GetPeriod());

6
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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@@ -33,7 +33,8 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
// Limit the PID Controller's input range between -pi and pi and set the input
// to be continuous.
m_turningPIDController.EnableContinuousInput(
-wpi::units::radian_t{std::numbers::pi}, wpi::units::radian_t{std::numbers::pi});
-wpi::units::radian_t{std::numbers::pi},
wpi::units::radian_t{std::numbers::pi});
}
wpi::math::SwerveModuleState SwerveModule::GetState() const {
@@ -46,7 +47,8 @@ wpi::math::SwerveModulePosition SwerveModule::GetPosition() const {
wpi::units::radian_t{m_turningEncoder.GetDistance()}};
}
void SwerveModule::SetDesiredState(wpi::math::SwerveModuleState& referenceState) {
void SwerveModule::SetDesiredState(
wpi::math::SwerveModuleState& referenceState) {
wpi::math::Rotation2d encoderRotation{
wpi::units::radian_t{m_turningEncoder.GetDistance()}};

5
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.hpp
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@@ -21,8 +21,9 @@ class Drivetrain {
Drivetrain() { m_imu.ResetYaw(); }
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 =

4
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.hpp
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@@ -49,8 +49,8 @@ class SwerveModule {
0.0,
{kModuleMaxAngularVelocity, kModuleMaxAngularAcceleration}};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_driveFeedforward{1_V,
3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_driveFeedforward{
1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_turnFeedforward{
1_V, 0.5_V / 1_rad_per_s};
};