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[examples] Correct Mecanum example axes (#3955)

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sciencewhiz
2022-01-27 21:57:41 -07:00
committed by GitHub
parent 7ea1be9c01
commit 560094ad92
4 changed files with 9 additions and 8 deletions
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6
wpilibcExamples/src/main/cpp/examples/GyroMecanum/cpp/Robot.cpp
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@@ -10,8 +10,8 @@
/**
* This is a sample program that uses mecanum drive with a gyro sensor to
* maintain rotation vectorsin relation to the starting orientation of the robot
* (field-oriented controls).
* maintain rotation vectors in relation to the starting orientation of the
* robot (field-oriented controls).
*/
class Robot : public frc::TimedRobot {
public:
@@ -28,7 +28,7 @@ class Robot : public frc::TimedRobot {
* Mecanum drive is used with the gyro angle as an input.
*/
void TeleopPeriodic() override {
m_robotDrive.DriveCartesian(m_joystick.GetX(), m_joystick.GetY(),
m_robotDrive.DriveCartesian(-m_joystick.GetY(), m_joystick.GetX(),
m_joystick.GetZ(), m_gyro.GetAngle());
}

3
wpilibcExamples/src/main/cpp/examples/MecanumDrive/cpp/Robot.cpp
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@@ -24,7 +24,8 @@ class Robot : public frc::TimedRobot {
/* Use the joystick X axis for lateral movement, Y axis for forward
* movement, and Z axis for rotation.
*/
m_robotDrive.DriveCartesian(m_stick.GetX(), m_stick.GetY(), m_stick.GetZ());
m_robotDrive.DriveCartesian(-m_stick.GetY(), m_stick.GetX(),
m_stick.GetZ());
}
private:

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
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@@ -11,8 +11,8 @@ import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
/**
* This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation
* vectorsin relation to the starting orientation of the robot (field-oriented controls).
* This is a sample program that uses mecanum drive with a gyro sensor to maintain rotation vectors
* in relation to the starting orientation of the robot (field-oriented controls).
*/
public class Robot extends TimedRobot {
// gyro calibration constant, may need to be adjusted;
@@ -51,6 +51,6 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(
m_joystick.getX(), m_joystick.getY(), m_joystick.getZ(), m_gyro.getAngle());
-m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getAngle());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
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@@ -42,6 +42,6 @@ public class Robot extends TimedRobot {
public void teleopPeriodic() {
// Use the joystick X axis for lateral movement, Y axis for forward
// movement, and Z axis for rotation.
m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(), m_stick.getZ(), 0.0);
m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ(), 0.0);
}
}