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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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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}};
};