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[wpimath] Make SimpleMotorFeedforward only support discrete feedforward (#6647)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Nicholas Armstrong
2024-07-16 20:23:11 -04:00
committed by GitHub
parent 5f261a88af
commit 30c7632ab8
31 changed files with 540 additions and 218 deletions
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19
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
View File

@@ -159,7 +159,6 @@ void MecanumControllerCommand::Initialize() {
void MecanumControllerCommand::Execute() {
auto curTime = m_timer.Get();
auto dt = curTime - m_prevTime;
auto m_desiredState = m_trajectory.Sample(curTime);
@@ -175,21 +174,17 @@ void MecanumControllerCommand::Execute() {
auto rearRightSpeedSetpoint = targetWheelSpeeds.rearRight;
if (m_usePID) {
auto frontLeftFeedforward = m_feedforward.Calculate(
frontLeftSpeedSetpoint,
(frontLeftSpeedSetpoint - m_prevSpeeds.frontLeft) / dt);
auto frontLeftFeedforward =
m_feedforward.Calculate(m_prevSpeeds.frontLeft, frontLeftSpeedSetpoint);
auto rearLeftFeedforward = m_feedforward.Calculate(
rearLeftSpeedSetpoint,
(rearLeftSpeedSetpoint - m_prevSpeeds.rearLeft) / dt);
auto rearLeftFeedforward =
m_feedforward.Calculate(m_prevSpeeds.rearLeft, rearLeftSpeedSetpoint);
auto frontRightFeedforward = m_feedforward.Calculate(
frontRightSpeedSetpoint,
(frontRightSpeedSetpoint - m_prevSpeeds.frontRight) / dt);
m_prevSpeeds.frontRight, frontRightSpeedSetpoint);
auto rearRightFeedforward = m_feedforward.Calculate(
rearRightSpeedSetpoint,
(rearRightSpeedSetpoint - m_prevSpeeds.rearRight) / dt);
auto rearRightFeedforward =
m_feedforward.Calculate(m_prevSpeeds.rearRight, rearRightSpeedSetpoint);
auto frontLeftOutput = units::volt_t{m_frontLeftController->Calculate(
m_currentWheelSpeeds().frontLeft.value(),

11
wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
View File

@@ -68,7 +68,6 @@ void RamseteCommand::Initialize() {
void RamseteCommand::Execute() {
auto curTime = m_timer.Get();
auto dt = curTime - m_prevTime;
if (m_prevTime < 0_s) {
if (m_usePID) {
@@ -85,13 +84,11 @@ void RamseteCommand::Execute() {
m_controller.Calculate(m_pose(), m_trajectory.Sample(curTime)));
if (m_usePID) {
auto leftFeedforward = m_feedforward.Calculate(
targetWheelSpeeds.left,
(targetWheelSpeeds.left - m_prevSpeeds.left) / dt);
auto leftFeedforward =
m_feedforward.Calculate(m_prevSpeeds.left, targetWheelSpeeds.left);
auto rightFeedforward = m_feedforward.Calculate(
targetWheelSpeeds.right,
(targetWheelSpeeds.right - m_prevSpeeds.right) / dt);
auto rightFeedforward =
m_feedforward.Calculate(m_prevSpeeds.right, targetWheelSpeeds.right);
auto leftOutput =
units::volt_t{m_leftController->Calculate(