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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()}};
};