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[wpimath] Position Delta Odometry for Swerve (#4493)

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This commit is contained in:
Jordan McMichael
2022-10-25 15:28:36 -04:00
committed by GitHub
parent fe400f68c5
commit 4170ec6107
35 changed files with 1508 additions and 277 deletions
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6
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/Drivetrain.h
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@@ -47,5 +47,9 @@ class Drivetrain {
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, m_gyro.GetRotation2d()};
frc::SwerveDriveOdometry<4> m_odometry{
m_kinematics,
m_gyro.GetRotation2d(),
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()}};
};

2
wpilibcExamples/src/main/cpp/examples/SwerveBot/include/SwerveModule.h
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@@ -10,6 +10,7 @@
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc/kinematics/SwerveModulePosition.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <units/angular_velocity.h>
@@ -23,6 +24,7 @@ class SwerveModule {
int driveEncoderChannelA, int driveEncoderChannelB,
int turningEncoderChannelA, int turningEncoderChannelB);
frc::SwerveModuleState GetState() const;
frc::SwerveModulePosition GetPosition() const;
void SetDesiredState(const frc::SwerveModuleState& state);
private: