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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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9
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -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())));
}