Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

SCRIPT: wpiformat

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

8
wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
View File

@@ -15,7 +15,8 @@
class Robot : public wpi::TimedRobot {
public:
void RobotPeriodic() override {
wpi::units::meters_per_second_squared_t XAccel = m_accelerometer.GetAccelX();
wpi::units::meters_per_second_squared_t XAccel =
m_accelerometer.GetAccelX();
// Get the filtered X acceleration
wpi::units::meters_per_second_squared_t filteredXAccel =
m_xAccelFilter.Calculate(XAccel);
@@ -27,8 +28,9 @@ class Robot : public wpi::TimedRobot {
private:
wpi::OnboardIMU m_accelerometer{wpi::OnboardIMU::MountOrientation::kFlat};
wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t> m_xAccelFilter =
wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t>::MovingAverage(10);
wpi::math::LinearFilter<wpi::units::meters_per_second_squared_t>
m_xAccelFilter = wpi::math::LinearFilter<
wpi::units::meters_per_second_squared_t>::MovingAverage(10);
};
#ifndef RUNNING_WPILIB_TESTS

8
wpilibcExamples/src/main/cpp/snippets/ProfiledPIDFeedforward/cpp/Robot.cpp
View File

@@ -20,8 +20,8 @@ class Robot : public wpi::TimedRobot {
public:
Robot() { m_encoder.SetDistancePerPulse(1.0 / 256.0); }
// Controls a simple motor's position using a wpi::math::SimpleMotorFeedforward
// and a wpi::math::ProfiledPIDController
// Controls a simple motor's position using a
// wpi::math::SimpleMotorFeedforward and a wpi::math::ProfiledPIDController
void GoToPosition(wpi::units::meter_t goalPosition) {
auto pidVal = m_controller.Calculate(
wpi::units::meter_t{m_encoder.GetDistance()}, goalPosition);
@@ -39,8 +39,8 @@ class Robot : public wpi::TimedRobot {
private:
wpi::math::ProfiledPIDController<wpi::units::meters> m_controller{
1.0, 0.0, 0.0, {5_mps, 10_mps_sq}};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{0.5_V, 1.5_V / 1_mps,
0.3_V / 1_mps_sq};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
0.5_V, 1.5_V / 1_mps, 0.3_V / 1_mps_sq};
wpi::Encoder m_encoder{0, 1};
wpi::PWMSparkMax m_motor{0};