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[examples] Update Field2d position in periodic() (#2928)

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This ensures that the robot position will be updated in dashboards like Glass when running on real hardware.
This commit is contained in:
Prateek Machiraju
2020-12-10 23:36:20 -05:00
committed by GitHub
parent f78d1d4340
commit 65219f3093
7 changed files with 18 additions and 9 deletions
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3
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -60,6 +60,9 @@ void Drivetrain::SimulationPeriodic() {
m_drivetrainSimulator.GetRightVelocity().to<double>());
m_gyroSim.SetAngle(
-m_drivetrainSimulator.GetHeading().Degrees().to<double>());
}
void Drivetrain::Periodic() {
UpdateOdometry();
m_fieldSim.SetRobotPose(m_odometry.GetPose());
}

4
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
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@@ -22,6 +22,8 @@ class Robot : public frc::TimedRobot {
frc::TrajectoryConfig(2_mps, 2_mps_sq));
}
void RobotPeriodic() override { m_drive.Periodic(); }
void AutonomousInit() override {
m_timer.Reset();
m_timer.Start();
@@ -33,8 +35,6 @@ class Robot : public frc::TimedRobot {
auto reference = m_trajectory.Sample(elapsed);
auto speeds = m_ramsete.Calculate(m_drive.GetPose(), reference);
m_drive.Drive(speeds.vx, speeds.omega);
m_drive.UpdateOdometry();
}
void TeleopPeriodic() override {

1
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
View File

@@ -64,6 +64,7 @@ class Drivetrain {
frc::Pose2d GetPose() const { return m_odometry.GetPose(); }
void SimulationPeriodic();
void Periodic();
private:
static constexpr units::meter_t kTrackWidth = 0.381_m * 2;

5
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
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@@ -22,6 +22,7 @@ DriveSubsystem::DriveSubsystem() {
m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
ResetEncoders();
frc::SmartDashboard::PutData("Field", &m_fieldSim);
}
void DriveSubsystem::Periodic() {
@@ -29,6 +30,7 @@ void DriveSubsystem::Periodic() {
m_odometry.Update(m_gyro.GetRotation2d(),
units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
m_fieldSim.SetRobotPose(m_odometry.GetPose());
}
void DriveSubsystem::SimulationPeriodic() {
@@ -52,9 +54,6 @@ void DriveSubsystem::SimulationPeriodic() {
m_drivetrainSimulator.GetRightVelocity().to<double>());
m_gyroAngleSim.SetAngle(
-m_drivetrainSimulator.GetHeading().Degrees().to<double>());
m_fieldSim.SetRobotPose(m_odometry.GetPose());
frc::SmartDashboard::PutData("Field", &m_fieldSim);
}
units::ampere_t DriveSubsystem::GetCurrentDraw() const {