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

Remove encoder velocities methods in DifferentialDriveOdometry (#2147)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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()};
};