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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/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -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