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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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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