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[examples] Sync Java and C++ trajectories in sim example (#3081)

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This also shifts the trajectory up and to the right so that the robot is
always visible in the Field GUI during traversal. Some drive constants
and trajectory constraints were also synced between the two languages.
This commit is contained in:
Prateek Machiraju
2021-01-11 23:08:22 -05:00
committed by GitHub
parent 64e72f7103
commit 42c3d52863
3 changed files with 11 additions and 10 deletions
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8
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/RobotContainer.cpp
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@@ -69,12 +69,12 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
// An example trajectory to follow. All units in meters.
auto exampleTrajectory = frc::TrajectoryGenerator::GenerateTrajectory(
// Start at the origin facing the +X direction
frc::Pose2d(),
// Start at (1, 2) facing the +X direction
frc::Pose2d(1_m, 2_m, 0_deg),
// Pass through these two interior waypoints, making an 's' curve path
{frc::Translation2d(1_m, 1_m), frc::Translation2d(2_m, -1_m)},
{frc::Translation2d(2_m, 3_m), frc::Translation2d(3_m, 1_m)},
// End 3 meters straight ahead of where we started, facing forward
frc::Pose2d(3_m, 0_m, 0_deg),
frc::Pose2d(4_m, 2_m, 0_deg),
// Pass the config
config);