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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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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