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[wpilib] Make drive classes follow NWU axes convention (#4079)

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All trigonometric functions and vector classes assume North-West-Up axes
convention, so using North-East-Down convention with them is really
error-prone. We've broken something every time we touched the drive
classes.

We originally used North-East-Down to match the joystick convention, but
the volume of long-lived bugs has made this not worth it in retrospect.

The rest of WPILib also uses North-West-Up, so this makes things
consistent.

KilloughDrive was removed since no one uses it.
This commit is contained in:
Tyler Veness
2022-10-27 21:59:11 -07:00
committed by GitHub
parent 9e22ffbebf
commit 66157397c1
24 changed files with 264 additions and 1463 deletions
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80
wpilibc/src/test/native/cpp/drive/DifferentialDriveTest.cpp
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@@ -13,12 +13,12 @@ TEST(DifferentialDriveTest, ArcadeDriveIK) {
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(0.5, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.5, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
@@ -28,32 +28,32 @@ TEST(DifferentialDriveTest, ArcadeDriveIK) {
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.5, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-0.5, speeds.right);
// Left turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Left turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Right turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Right turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
@@ -65,12 +65,12 @@ TEST(DifferentialDriveTest, ArcadeDriveIKSquared) {
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(0.25, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, 0.5, true);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
@@ -80,32 +80,32 @@ TEST(DifferentialDriveTest, ArcadeDriveIKSquared) {
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, 0.5, true);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-0.25, speeds.right);
// Left turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Left turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Right turn (xSpeed with negative sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, 1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(-0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Right turn (xSpeed with positive sign)
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, 1.0, false);
speeds = frc::DifferentialDrive::ArcadeDriveIK(0.0, -1.0, false);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
@@ -117,12 +117,12 @@ TEST(DifferentialDriveTest, CurvatureDriveIK) {
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.25, speeds.left);
EXPECT_DOUBLE_EQ(0.75, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, false);
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.75, speeds.left);
EXPECT_DOUBLE_EQ(0.25, speeds.right);
@@ -132,12 +132,12 @@ TEST(DifferentialDriveTest, CurvatureDriveIK) {
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.75, speeds.left);
EXPECT_DOUBLE_EQ(-0.25, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, false);
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(-0.25, speeds.left);
EXPECT_DOUBLE_EQ(-0.75, speeds.right);
}
@@ -149,12 +149,12 @@ TEST(DifferentialDriveTest, CurvatureDriveIKTurnInPlace) {
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(1.0, speeds.right);
// Forward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, 0.5, true);
speeds = frc::DifferentialDrive::CurvatureDriveIK(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
@@ -164,12 +164,12 @@ TEST(DifferentialDriveTest, CurvatureDriveIKTurnInPlace) {
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
// Backward left turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-1.0, speeds.left);
EXPECT_DOUBLE_EQ(0.0, speeds.right);
// Backward right turn
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, 0.5, true);
speeds = frc::DifferentialDrive::CurvatureDriveIK(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, speeds.left);
EXPECT_DOUBLE_EQ(-1.0, speeds.right);
}
@@ -250,12 +250,12 @@ TEST(DifferentialDriveTest, ArcadeDrive) {
EXPECT_DOUBLE_EQ(1.0, right.Get());
// Forward left turn
drive.ArcadeDrive(0.5, -0.5, false);
drive.ArcadeDrive(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(0.5, right.Get());
// Forward right turn
drive.ArcadeDrive(0.5, 0.5, false);
drive.ArcadeDrive(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.5, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
@@ -265,12 +265,12 @@ TEST(DifferentialDriveTest, ArcadeDrive) {
EXPECT_DOUBLE_EQ(-1.0, right.Get());
// Backward left turn
drive.ArcadeDrive(-0.5, -0.5, false);
drive.ArcadeDrive(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.5, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
// Backward right turn
drive.ArcadeDrive(-0.5, 0.5, false);
drive.ArcadeDrive(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(-0.5, right.Get());
}
@@ -287,12 +287,12 @@ TEST(DifferentialDriveTest, ArcadeDriveSquared) {
EXPECT_DOUBLE_EQ(1.0, right.Get());
// Forward left turn
drive.ArcadeDrive(0.5, -0.5, true);
drive.ArcadeDrive(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(0.25, right.Get());
// Forward right turn
drive.ArcadeDrive(0.5, 0.5, true);
drive.ArcadeDrive(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.25, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
@@ -302,12 +302,12 @@ TEST(DifferentialDriveTest, ArcadeDriveSquared) {
EXPECT_DOUBLE_EQ(-1.0, right.Get());
// Backward left turn
drive.ArcadeDrive(-0.5, -0.5, true);
drive.ArcadeDrive(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-0.25, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
// Backward right turn
drive.ArcadeDrive(-0.5, 0.5, true);
drive.ArcadeDrive(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(-0.25, right.Get());
}
@@ -324,12 +324,12 @@ TEST(DifferentialDriveTest, CurvatureDrive) {
EXPECT_DOUBLE_EQ(1.0, right.Get());
// Forward left turn
drive.CurvatureDrive(0.5, -0.5, false);
drive.CurvatureDrive(0.5, 0.5, false);
EXPECT_DOUBLE_EQ(0.25, left.Get());
EXPECT_DOUBLE_EQ(0.75, right.Get());
// Forward right turn
drive.CurvatureDrive(0.5, 0.5, false);
drive.CurvatureDrive(0.5, -0.5, false);
EXPECT_DOUBLE_EQ(0.75, left.Get());
EXPECT_DOUBLE_EQ(0.25, right.Get());
@@ -339,12 +339,12 @@ TEST(DifferentialDriveTest, CurvatureDrive) {
EXPECT_DOUBLE_EQ(-1.0, right.Get());
// Backward left turn
drive.CurvatureDrive(-0.5, -0.5, false);
drive.CurvatureDrive(-0.5, 0.5, false);
EXPECT_DOUBLE_EQ(-0.75, left.Get());
EXPECT_DOUBLE_EQ(-0.25, right.Get());
// Backward right turn
drive.CurvatureDrive(-0.5, 0.5, false);
drive.CurvatureDrive(-0.5, -0.5, false);
EXPECT_DOUBLE_EQ(-0.25, left.Get());
EXPECT_DOUBLE_EQ(-0.75, right.Get());
}
@@ -361,12 +361,12 @@ TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
EXPECT_DOUBLE_EQ(1.0, right.Get());
// Forward left turn
drive.CurvatureDrive(0.5, -0.5, true);
drive.CurvatureDrive(0.5, 0.5, true);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(1.0, right.Get());
// Forward right turn
drive.CurvatureDrive(0.5, 0.5, true);
drive.CurvatureDrive(0.5, -0.5, true);
EXPECT_DOUBLE_EQ(1.0, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
@@ -376,12 +376,12 @@ TEST(DifferentialDriveTest, CurvatureDriveTurnInPlace) {
EXPECT_DOUBLE_EQ(-1.0, right.Get());
// Backward left turn
drive.CurvatureDrive(-0.5, -0.5, true);
drive.CurvatureDrive(-0.5, 0.5, true);
EXPECT_DOUBLE_EQ(-1.0, left.Get());
EXPECT_DOUBLE_EQ(0.0, right.Get());
// Backward right turn
drive.CurvatureDrive(-0.5, 0.5, true);
drive.CurvatureDrive(-0.5, -0.5, true);
EXPECT_DOUBLE_EQ(0.0, left.Get());
EXPECT_DOUBLE_EQ(-1.0, right.Get());
}