Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

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

3
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
View File

@@ -10,6 +10,7 @@
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/kinematics/SwerveModulePosition.h>
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/motorcontrol/Spark.h>
#include <frc/trajectory/TrapezoidProfile.h>
@@ -24,6 +25,8 @@ class SwerveModule {
frc::SwerveModuleState GetState();
frc::SwerveModulePosition GetPosition();
void SetDesiredState(const frc::SwerveModuleState& state);
void ResetEncoders();