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[wpilib] Move Field2d to SmartDashboard

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This commit is contained in:
Peter Johnson
2020-10-30 13:55:38 -07:00
parent 8cd42478e1
commit 727940d847
13 changed files with 631 additions and 226 deletions
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49
wpilibc/src/main/native/cpp/simulation/Field2d.cpp
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@@ -1,49 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/simulation/Field2d.h"
using namespace frc;
Field2d::Field2d() : m_device{"Field2D"} {
if (m_device) {
m_x = m_device.CreateDouble("x", false, 0.0);
m_y = m_device.CreateDouble("y", false, 0.0);
m_rot = m_device.CreateDouble("rot", false, 0.0);
}
}
void Field2d::SetRobotPose(const Pose2d& pose) {
if (m_device) {
auto& translation = pose.Translation();
m_x.Set(translation.X().to<double>());
m_y.Set(translation.Y().to<double>());
m_rot.Set(pose.Rotation().Degrees().to<double>());
} else {
m_pose = pose;
}
}
void Field2d::SetRobotPose(units::meter_t x, units::meter_t y,
Rotation2d rotation) {
if (m_device) {
m_x.Set(x.to<double>());
m_y.Set(y.to<double>());
m_rot.Set(rotation.Degrees().to<double>());
} else {
m_pose = Pose2d{x, y, rotation};
}
}
Pose2d Field2d::GetRobotPose() {
if (m_device) {
return Pose2d{units::meter_t{m_x.Get()}, units::meter_t{m_y.Get()},
Rotation2d{units::degree_t{m_rot.Get()}}};
} else {
return m_pose;
}
}