Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add DifferentialDrive voltage constraint (#2075)

Browse Source
This commit is contained in:
Oblarg
2019-11-22 00:43:02 -05:00
committed by Peter Johnson
parent e0bc97f66b
commit 21e957ee42
17 changed files with 868 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
View File

@@ -32,7 +32,7 @@ class DifferentialDriveKinematics {
* scrubbing effects.
*/
constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
: m_trackWidth(trackWidth) {}
: trackWidth(trackWidth) {}
/**
* Returns a chassis speed from left and right component velocities using
@@ -44,7 +44,7 @@ class DifferentialDriveKinematics {
constexpr ChassisSpeeds ToChassisSpeeds(
const DifferentialDriveWheelSpeeds& wheelSpeeds) const {
return {(wheelSpeeds.left + wheelSpeeds.right) / 2.0, 0_mps,
(wheelSpeeds.right - wheelSpeeds.left) / m_trackWidth * 1_rad};
(wheelSpeeds.right - wheelSpeeds.left) / trackWidth * 1_rad};
}
/**
@@ -57,11 +57,10 @@ class DifferentialDriveKinematics {
*/
constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds) const {
return {chassisSpeeds.vx - m_trackWidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + m_trackWidth / 2 * chassisSpeeds.omega / 1_rad};
return {chassisSpeeds.vx - trackWidth / 2 * chassisSpeeds.omega / 1_rad,
chassisSpeeds.vx + trackWidth / 2 * chassisSpeeds.omega / 1_rad};
}
private:
units::meter_t m_trackWidth;
units::meter_t trackWidth;
};
} // namespace frc