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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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7
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
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@@ -25,7 +25,8 @@ import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
import edu.wpi.first.wpilibj.simulation.DifferentialDrivetrainSim;
import edu.wpi.first.wpilibj.simulation.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class DriveSubsystem extends SubsystemBase {
@@ -64,8 +65,7 @@ public class DriveSubsystem extends SubsystemBase {
public DifferentialDrivetrainSim m_drivetrainSimulator;
private EncoderSim m_leftEncoderSim;
private EncoderSim m_rightEncoderSim;
// The Field2d class simulates the field in the sim GUI. Note that we can have only one
// instance!
// The Field2d class shows the field in the sim GUI
private Field2d m_fieldSim;
private SimDouble m_gyroAngleSim;
@@ -125,6 +125,7 @@ public class DriveSubsystem extends SubsystemBase {
m_gyroAngleSim.set(-m_drivetrainSimulator.getHeading().getDegrees());
m_fieldSim.setRobotPose(getPose());
SmartDashboard.putData("Field", m_fieldSim);
}
/**