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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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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
View File

@@ -51,6 +51,6 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
m_robotDrive.driveCartesian(
-m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getAngle());
-m_joystick.getY(), m_joystick.getX(), m_joystick.getZ(), m_gyro.getRotation2d());
}
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -113,7 +113,7 @@ public class DriveSubsystem extends SubsystemBase {
*/
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
if (fieldRelative) {
m_drive.driveCartesian(ySpeed, xSpeed, rot, -m_gyro.getAngle());
m_drive.driveCartesian(ySpeed, xSpeed, rot, m_gyro.getRotation2d());
} else {
m_drive.driveCartesian(ySpeed, xSpeed, rot);
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
View File

@@ -40,8 +40,8 @@ public class Robot extends TimedRobot {
@Override
public void teleopPeriodic() {
// Use the joystick X axis for lateral movement, Y axis for forward
// Use the joystick X axis for forward movement, Y axis for lateral
// movement, and Z axis for rotation.
m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ(), 0.0);
m_robotDrive.driveCartesian(-m_stick.getY(), m_stick.getX(), m_stick.getZ());
}
}