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Add encoder distance overload to DifferentialDriveOdometry (#2096)

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Also force encoders to be reset to zero on pose reset.
This commit is contained in:
Prateek Machiraju
2019-11-19 12:56:34 -05:00
committed by Peter Johnson
parent 845aba33fe
commit 45201d15fc
5 changed files with 123 additions and 8 deletions
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11
wpilibj/src/test/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometryTest.java
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@@ -67,4 +67,15 @@ class DifferentialDriveOdometryTest {
);
}
@Test
void testOdometryWithEncoderDistances() {
m_odometry.resetPosition(new Pose2d(), Rotation2d.fromDegrees(45));
var pose = m_odometry.update(Rotation2d.fromDegrees(135.0), 0.0, 5 * Math.PI);
assertAll(
() -> assertEquals(pose.getTranslation().getX(), 5.0, kEpsilon),
() -> assertEquals(pose.getTranslation().getY(), 5.0, kEpsilon),
() -> assertEquals(pose.getRotation().getDegrees(), 90.0, kEpsilon)
);
}
}