Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib, examples] Remove AnalogGyro (#8205)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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()}};
};