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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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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{},