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Remove encoder velocities methods in DifferentialDriveOdometry (#2147)

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It doesn't make sense to continue to provide a less accurate method of performing odometry
when a more accurate method using distances exists.

This also removes the need to pass DifferentialDriveKinematics to the constructor.
This commit is contained in:
Prateek Machiraju
2019-12-01 02:10:29 -05:00
committed by Peter Johnson
parent b8c1024261
commit 5b73c17f25
10 changed files with 41 additions and 265 deletions
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8
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
View File

@@ -7,11 +7,6 @@
#include "Drivetrain.h"
frc::DifferentialDriveWheelSpeeds Drivetrain::GetSpeeds() const {
return {units::meters_per_second_t(m_leftEncoder.GetRate()),
units::meters_per_second_t(m_rightEncoder.GetRate())};
}
void Drivetrain::SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds) {
const auto leftOutput = m_leftPIDController.Calculate(
m_leftEncoder.GetRate(), speeds.left.to<double>());
@@ -28,5 +23,6 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(GetAngle(), GetSpeeds());
m_odometry.Update(GetAngle(), units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
}

6
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
View File

@@ -31,6 +31,9 @@ class Drivetrain {
kEncoderResolution);
m_rightEncoder.SetDistancePerPulse(2 * wpi::math::pi * kWheelRadius /
kEncoderResolution);
m_leftEncoder.Reset();
m_rightEncoder.Reset();
}
/**
@@ -46,7 +49,6 @@ class Drivetrain {
static constexpr units::radians_per_second_t kMaxAngularSpeed{
wpi::math::pi}; // 1/2 rotation per second
frc::DifferentialDriveWheelSpeeds GetSpeeds() const;
void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
void Drive(units::meters_per_second_t xSpeed,
units::radians_per_second_t rot);
@@ -74,5 +76,5 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveOdometry m_odometry{m_kinematics, GetAngle()};
frc::DifferentialDriveOdometry m_odometry{GetAngle()};
};

9
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -19,17 +19,19 @@ DriveSubsystem::DriveSubsystem()
m_right2{kRightMotor2Port},
m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]},
m_odometry{kDriveKinematics,
frc::Rotation2d(units::degree_t(GetHeading()))} {
m_odometry{frc::Rotation2d(units::degree_t(GetHeading()))} {
// Set the distance per pulse for the encoders
m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
ResetEncoders();
}
void DriveSubsystem::Periodic() {
// Implementation of subsystem periodic method goes here.
m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
GetWheelSpeeds());
units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
}
void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
@@ -74,6 +76,7 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
}
void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_odometry.ResetPosition(pose,
frc::Rotation2d(units::degree_t(GetHeading())));
}