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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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30
wpilibc/src/test/native/cpp/drive/MecanumDriveTest.cpp
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@@ -45,35 +45,35 @@ TEST(MecanumDriveTest, CartesianIK) {
TEST(MecanumDriveTest, CartesianIKGyro90CW) {
// Forward in global frame; left in robot frame
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90.0);
auto speeds = frc::MecanumDrive::DriveCartesianIK(1.0, 0.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Left in global frame; backward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90.0);
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, -1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearRight);
// Right in global frame; forward in robot frame
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90.0);
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CCW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90.0);
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, -1.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(-1.0, speeds.rearLeft);
EXPECT_DOUBLE_EQ(1.0, speeds.rearRight);
// Rotate CW
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90.0);
speeds = frc::MecanumDrive::DriveCartesianIK(0.0, 0.0, 1.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, speeds.frontLeft);
EXPECT_DOUBLE_EQ(-1.0, speeds.frontRight);
EXPECT_DOUBLE_EQ(1.0, speeds.rearLeft);
@@ -133,35 +133,35 @@ TEST(MecanumDriveTest, CartesianGyro90CW) {
drive.SetDeadband(0.0);
// Forward in global frame; left in robot frame
drive.DriveCartesian(1.0, 0.0, 0.0, 90.0);
drive.DriveCartesian(1.0, 0.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Left in global frame; backward in robot frame
drive.DriveCartesian(0.0, -1.0, 0.0, 90.0);
drive.DriveCartesian(0.0, -1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Right in global frame; forward in robot frame
drive.DriveCartesian(0.0, 1.0, 0.0, 90.0);
drive.DriveCartesian(0.0, 1.0, 0.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CCW
drive.DriveCartesian(0.0, 0.0, -1.0, 90.0);
drive.DriveCartesian(0.0, 0.0, -1.0, 90_deg);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DriveCartesian(0.0, 0.0, 1.0, 90.0);
drive.DriveCartesian(0.0, 0.0, 1.0, 90_deg);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
@@ -177,35 +177,35 @@ TEST(MecanumDriveTest, Polar) {
drive.SetDeadband(0.0);
// Forward
drive.DrivePolar(1.0, 0.0, 0.0);
drive.DrivePolar(1.0, 0_deg, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Left
drive.DrivePolar(1.0, -90.0, 0.0);
drive.DrivePolar(1.0, -90_deg, 0.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());
EXPECT_DOUBLE_EQ(-1.0, rr.Get());
// Right
drive.DrivePolar(1.0, 90.0, 0.0);
drive.DrivePolar(1.0, 90_deg, 0.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CCW
drive.DrivePolar(0.0, 0.0, -1.0);
drive.DrivePolar(0.0, 0_deg, -1.0);
EXPECT_DOUBLE_EQ(-1.0, fl.Get());
EXPECT_DOUBLE_EQ(1.0, fr.Get());
EXPECT_DOUBLE_EQ(-1.0, rl.Get());
EXPECT_DOUBLE_EQ(1.0, rr.Get());
// Rotate CW
drive.DrivePolar(0.0, 0.0, 1.0);
drive.DrivePolar(0.0, 0_deg, 1.0);
EXPECT_DOUBLE_EQ(1.0, fl.Get());
EXPECT_DOUBLE_EQ(-1.0, fr.Get());
EXPECT_DOUBLE_EQ(1.0, rl.Get());