Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Deprecate RamseteController (#6494)

Browse Source 
LTVUnicycleController is a drop-in replacement with better tuning knobs.

The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
This commit is contained in:
Tyler Veness
2024-04-29 22:01:42 -07:00
committed by GitHub
parent 7601b7250a
commit 5359112b15
45 changed files with 45 additions and 2929 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
View File

@@ -5,7 +5,7 @@
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
#include <frc/XboxController.h>
#include <frc/controller/RamseteController.h>
#include <frc/controller/LTVUnicycleController.h>
#include <frc/filter/SlewRateLimiter.h>
#include <frc/trajectory/TrajectoryGenerator.h>
@@ -29,7 +29,7 @@ class Robot : public frc::TimedRobot {
void AutonomousPeriodic() override {
auto elapsed = m_timer.Get();
auto reference = m_trajectory.Sample(elapsed);
auto speeds = m_ramsete.Calculate(m_drive.GetPose(), reference);
auto speeds = m_feedback.Calculate(m_drive.GetPose(), reference);
m_drive.Drive(speeds.vx, speeds.omega);
}
@@ -61,7 +61,7 @@ class Robot : public frc::TimedRobot {
Drivetrain m_drive;
frc::Trajectory m_trajectory;
frc::RamseteController m_ramsete;
frc::LTVUnicycleController m_feedback{20_ms};
frc::Timer m_timer;
};