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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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8
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -27,9 +27,11 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_poseEstimator.Update(m_gyro.GetRotation2d(), m_frontLeft.GetState(),
m_frontRight.GetState(), m_backLeft.GetState(),
m_backRight.GetState());
m_poseEstimator.Update(m_gyro.GetRotation2d(),
{m_frontLeft.GetState(), m_frontRight.GetState(),
m_backLeft.GetState(), m_backRight.GetState()},
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()});
// Also apply vision measurements. We use 0.3 seconds in the past as an
// example -- on a real robot, this must be calculated based either on latency

5
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
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@@ -41,6 +41,11 @@ frc::SwerveModuleState SwerveModule::GetState() const {
units::radian_t{m_turningEncoder.GetDistance()}};
}
frc::SwerveModulePosition SwerveModule::GetPosition() const {
return {units::meter_t{m_driveEncoder.GetDistance()},
units::radian_t{m_turningEncoder.GetDistance()}};
}
void SwerveModule::SetDesiredState(
const frc::SwerveModuleState& referenceState) {
// Optimize the reference state to avoid spinning further than 90 degrees

10
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
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@@ -50,6 +50,12 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
frc::Rotation2d{}, frc::Pose2d{}, m_kinematics,
{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
frc::Rotation2d{},
frc::Pose2d{},
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()},
m_kinematics,
{0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1},
{0.05, 0.05, 0.05, 0.05, 0.05},
{0.1, 0.1, 0.1}};
};

2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/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: