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[wpimath] Add ChassisSpeeds method to fix drifting during compound swerve drive maneuvers (#5425)

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This commit is contained in:
Joseph Eng
2023-07-18 21:19:55 -07:00
committed by GitHub
parent 1af224c21b
commit 657338715d
28 changed files with 227 additions and 57 deletions
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3
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -43,7 +43,8 @@ class DriveSubsystem : public frc2::Subsystem {
*/
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
bool fieldRelative);
bool fieldRelative,
units::second_t period = DriveConstants::kDrivePeriod);
/**
* Resets the drive encoders to currently read a position of 0.