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[wpilib, examples] Remove AnalogGyro (#8205)

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This commit is contained in:
Ryan Blue
2025-10-10 15:44:39 -04:00
committed by GitHub
parent 35e4a18e86
commit 33f91589b4
30 changed files with 109 additions and 563 deletions
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2
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
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@@ -22,7 +22,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_gyro.GetRotation2d(),
m_odometry.Update(m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
}

8
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
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@@ -6,8 +6,8 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
@@ -32,7 +32,7 @@ class Drivetrain {
// gearbox is constructed, you might have to invert the left side instead.
m_rightLeader.SetInverted(true);
m_gyro.Reset();
m_imu.ResetYaw();
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.
@@ -71,11 +71,11 @@ class Drivetrain {
frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
// Gains are for example purposes only - must be determined for your own

5
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
View File

@@ -15,7 +15,7 @@ Drivetrain::Drivetrain() {
// gearbox is constructed, you might have to invert the left side instead.
m_rightLeader.SetInverted(true);
m_gyro.Reset();
m_imu.ResetYaw();
// Set the distance per pulse for the drive encoders. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
@@ -84,7 +84,7 @@ frc::Pose3d Drivetrain::ObjectToRobotPose(
}
void Drivetrain::UpdateOdometry() {
m_poseEstimator.Update(m_gyro.GetRotation2d(),
m_poseEstimator.Update(m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
@@ -125,6 +125,7 @@ void Drivetrain::SimulationPeriodic() {
m_drivetrainSimulator.GetRightPosition().value());
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
// m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
// // TODO(Ryan): fixup when sim implemented
}
void Drivetrain::Periodic() {

6
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -6,9 +6,9 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/ComputerVisionUtil.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/RobotController.h>
#include <frc/Timer.h>
#include <frc/apriltag/AprilTagFieldLayout.h>
@@ -144,7 +144,7 @@ class Drivetrain {
frc::PIDController m_leftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_rightPIDController{1.0, 0.0, 0.0};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
@@ -152,7 +152,7 @@ class Drivetrain {
// robot!
frc::DifferentialDrivePoseEstimator m_poseEstimator{
m_kinematics,
m_gyro.GetRotation2d(),
m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()},
frc::Pose2d{},

15
wpilibcExamples/src/main/cpp/examples/Gyro/cpp/Robot.cpp
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@@ -4,8 +4,8 @@
#include <cmath>
#include <frc/AnalogGyro.h>
#include <frc/Joystick.h>
#include <frc/OnboardIMU.h>
#include <frc/TimedRobot.h>
#include <frc/drive/DifferentialDrive.h>
#include <frc/motorcontrol/PWMSparkMax.h>
@@ -18,7 +18,6 @@
class Robot : public frc::TimedRobot {
public:
Robot() {
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
@@ -34,7 +33,8 @@ class Robot : public frc::TimedRobot {
* angle.
*/
void TeleopPeriodic() override {
double turningValue = (kAngleSetpoint - m_gyro.GetAngle()) * kP;
double turningValue =
(kAngleSetpoint - m_imu.GetRotation2d().Degrees().value()) * kP;
m_drive.ArcadeDrive(-m_joystick.GetY(), -turningValue);
}
@@ -42,13 +42,10 @@ class Robot : public frc::TimedRobot {
static constexpr double kAngleSetpoint = 0.0;
static constexpr double kP = 0.005; // Proportional turning constant
// Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
// set to correspond to one full revolution.
static constexpr double kVoltsPerDegreePerSecond = 0.0128;
static constexpr int kLeftMotorPort = 0;
static constexpr int kRightMotorPort = 1;
static constexpr int kGyroPort = 0;
static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation =
frc::OnboardIMU::kFlat;
static constexpr int kJoystickPort = 0;
frc::PWMSparkMax m_left{kLeftMotorPort};
@@ -56,7 +53,7 @@ class Robot : public frc::TimedRobot {
frc::DifferentialDrive m_drive{[&](double output) { m_left.Set(output); },
[&](double output) { m_right.Set(output); }};
frc::AnalogGyro m_gyro{kGyroPort};
frc::OnboardIMU m_imu{kIMUMountOrientation};
frc::Joystick m_joystick{kJoystickPort};
};

15
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
View File

@@ -2,8 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <frc/AnalogGyro.h>
#include <frc/Joystick.h>
#include <frc/OnboardIMU.h>
#include <frc/TimedRobot.h>
#include <frc/drive/MecanumDrive.h>
#include <frc/motorcontrol/PWMSparkMax.h>
@@ -25,8 +25,6 @@ class Robot : public frc::TimedRobot {
// match your robot.
m_frontRight.SetInverted(true);
m_rearRight.SetInverted(true);
m_gyro.SetSensitivity(kVoltsPerDegreePerSecond);
}
/**
@@ -34,19 +32,16 @@ class Robot : public frc::TimedRobot {
*/
void TeleopPeriodic() override {
m_robotDrive.DriveCartesian(-m_joystick.GetY(), -m_joystick.GetX(),
-m_joystick.GetZ(), m_gyro.GetRotation2d());
-m_joystick.GetZ(), m_imu.GetRotation2d());
}
private:
// Gyro calibration constant, may need to be adjusted. Gyro value of 360 is
// set to correspond to one full revolution.
static constexpr double kVoltsPerDegreePerSecond = 0.0128;
static constexpr int kFrontLeftMotorPort = 0;
static constexpr int kRearLeftMotorPort = 1;
static constexpr int kFrontRightMotorPort = 2;
static constexpr int kRearRightMotorPort = 3;
static constexpr int kGyroPort = 0;
static constexpr frc::OnboardIMU::MountOrientation kIMUMountOrientation =
frc::OnboardIMU::kFlat;
static constexpr int kJoystickPort = 0;
frc::PWMSparkMax m_frontLeft{kFrontLeftMotorPort};
@@ -59,7 +54,7 @@ class Robot : public frc::TimedRobot {
[&](double output) { m_frontRight.Set(output); },
[&](double output) { m_rearRight.Set(output); }};
frc::AnalogGyro m_gyro{kGyroPort};
frc::OnboardIMU m_imu{kIMUMountOrientation};
frc::Joystick m_joystick{kJoystickPort};
};

4
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -55,12 +55,12 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::second_t period) {
frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
if (fieldRelative) {
chassisSpeeds = chassisSpeeds.ToRobotRelative(m_gyro.GetRotation2d());
chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
}
SetSpeeds(m_kinematics.ToWheelSpeeds(chassisSpeeds.Discretize(period))
.Desaturate(kMaxSpeed));
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_gyro.GetRotation2d(), GetCurrentWheelDistances());
m_odometry.Update(m_imu.GetRotation2d(), GetCurrentWheelDistances());
}

8
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
View File

@@ -6,8 +6,8 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/geometry/Translation2d.h>
@@ -22,7 +22,7 @@
class Drivetrain {
public:
Drivetrain() {
m_gyro.Reset();
m_imu.ResetYaw();
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
@@ -64,13 +64,13 @@ class Drivetrain {
frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::MecanumDriveKinematics m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d(),
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_imu.GetRotation2d(),
GetCurrentWheelDistances()};
// Gains are for example purposes only - must be determined for your own

4
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
View File

@@ -58,7 +58,9 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_poseEstimator.Update(m_gyro.GetRotation2d(), GetCurrentDistances());
m_poseEstimator.Update(
m_imu.GetRotation2d(),
GetCurrentDistances()); // TODO(Ryan): fixup when sim implemented
// Also apply vision measurements. We use 0.3 seconds in the past as an
// example -- on a real robot, this must be calculated based either on latency

10
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/include/Drivetrain.h
View File

@@ -6,8 +6,8 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/estimator/MecanumDrivePoseEstimator.h>
@@ -23,7 +23,7 @@
class Drivetrain {
public:
Drivetrain() {
m_gyro.Reset();
m_imu.ResetYaw();
// We need to invert one side of the drivetrain so that positive voltages
// result in both sides moving forward. Depending on how your robot's
// gearbox is constructed, you might have to invert the left side instead.
@@ -64,7 +64,7 @@ class Drivetrain {
frc::PIDController m_backLeftPIDController{1.0, 0.0, 0.0};
frc::PIDController m_backRightPIDController{1.0, 0.0, 0.0};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::MecanumDriveKinematics m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
@@ -77,6 +77,6 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::MecanumDrivePoseEstimator m_poseEstimator{
m_kinematics, m_gyro.GetRotation2d(), GetCurrentDistances(),
frc::Pose2d{}, {0.1, 0.1, 0.1}, {0.1, 0.1, 0.1}};
m_kinematics, m_imu.GetRotation2d(), GetCurrentDistances(),
frc::Pose2d{}, {0.1, 0.1, 0.1}, {0.1, 0.1, 0.1}};
};

4
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Drive.cpp
View File

@@ -62,10 +62,10 @@ frc2::CommandPtr Drive::DriveDistanceCommand(units::meter_t distance,
frc2::CommandPtr Drive::TurnToAngleCommand(units::degree_t angle) {
return StartRun(
[this] { m_controller.Reset(m_gyro.GetRotation2d().Degrees()); },
[this] { m_controller.Reset(m_imu.GetRotation2d().Degrees()); },
[this, angle] {
m_drive.ArcadeDrive(
0, m_controller.Calculate(m_gyro.GetRotation2d().Degrees(),
0, m_controller.Calculate(m_imu.GetRotation2d().Degrees(),
angle) +
// Divide feedforward voltage by battery voltage to
// normalize it to [-1, 1]

4
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
View File

@@ -6,8 +6,8 @@
#include <functional>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/drive/DifferentialDrive.h>
@@ -65,7 +65,7 @@ class Drive : public frc2::SubsystemBase {
DriveConstants::kRightEncoderPorts[1],
DriveConstants::kRightEncoderReversed};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::ProfiledPIDController<units::radians> m_controller{
DriveConstants::kTurnP,

4
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
View File

@@ -24,14 +24,14 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_gyro.GetRotation2d(),
m_odometry.Update(m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
}
void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
m_odometry.ResetPosition(m_imu.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}, pose);
}

8
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
View File

@@ -6,8 +6,8 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/Encoder.h>
#include <frc/OnboardIMU.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
@@ -29,7 +29,7 @@
class Drivetrain {
public:
Drivetrain() {
m_gyro.Reset();
m_imu.ResetYaw();
m_leftLeader.AddFollower(m_leftFollower);
m_rightLeader.AddFollower(m_rightFollower);
@@ -87,11 +87,11 @@ class Drivetrain {
frc::PIDController m_leftPIDController{8.5, 0.0, 0.0};
frc::PIDController m_rightPIDController{8.5, 0.0, 0.0};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
// Gains are for example purposes only - must be determined for your own

4
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
View File

@@ -10,7 +10,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::second_t period) {
frc::ChassisSpeeds chassisSpeeds{xSpeed, ySpeed, rot};
if (fieldRelative) {
chassisSpeeds = chassisSpeeds.ToRobotRelative(m_gyro.GetRotation2d());
chassisSpeeds = chassisSpeeds.ToRobotRelative(m_imu.GetRotation2d());
}
chassisSpeeds = chassisSpeeds.Discretize(period);
@@ -25,7 +25,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(m_gyro.GetRotation2d(),
m_odometry.Update(m_imu.GetRotation2d(),
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()});
}

8
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
View File

@@ -6,7 +6,7 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/OnboardIMU.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>
@@ -18,7 +18,7 @@
*/
class Drivetrain {
public:
Drivetrain() { m_gyro.Reset(); }
Drivetrain() { m_imu.ResetYaw(); }
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
@@ -41,7 +41,7 @@ class Drivetrain {
SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::SwerveDriveKinematics<4> m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
@@ -49,7 +49,7 @@ class Drivetrain {
frc::SwerveDriveOdometry<4> m_odometry{
m_kinematics,
m_gyro.GetRotation2d(),
m_imu.GetRotation2d(),
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()}};
};

2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
View File

@@ -30,7 +30,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_poseEstimator.Update(m_gyro.GetRotation2d(),
m_poseEstimator.Update(m_imu.GetRotation2d(),
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()});

6
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
View File

@@ -6,7 +6,7 @@
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/OnboardIMU.h>
#include <frc/estimator/SwerveDrivePoseEstimator.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
@@ -19,7 +19,7 @@
*/
class Drivetrain {
public:
Drivetrain() { m_gyro.Reset(); }
Drivetrain() { m_imu.ResetYaw(); }
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
@@ -41,7 +41,7 @@ class Drivetrain {
SwerveModule m_backLeft{5, 6, 8, 9, 10, 11};
SwerveModule m_backRight{7, 8, 12, 13, 14, 15};
frc::AnalogGyro m_gyro{0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
frc::SwerveDriveKinematics<4> m_kinematics{
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,