Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use gyro angle instead of robot angle for odometry (#2081)

Browse Source 
The odometry classes previously took in the robot angle as an argument, meaning that users had to take care of offsetting the gyro themselves to accurately report the robot angle. This change will make it so that users will not have to worry about resetting gyros and adding offsets themselves, as this will be handled by the odometry classes.
This commit is contained in:
Prateek Machiraju
2019-11-15 20:34:10 -05:00
committed by Peter Johnson
parent 1b66ead49d
commit 841ef91c0f
23 changed files with 258 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpilibc/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
View File

@@ -10,18 +10,22 @@
using namespace frc;
DifferentialDriveOdometry::DifferentialDriveOdometry(
DifferentialDriveKinematics kinematics, const Pose2d& initialPose)
DifferentialDriveKinematics kinematics, const Rotation2d& gyroAngle,
const Pose2d& initialPose)
: m_kinematics(kinematics), m_pose(initialPose) {
m_previousAngle = m_pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;
}
const Pose2d& DifferentialDriveOdometry::UpdateWithTime(
units::second_t currentTime, const Rotation2d& angle,
units::second_t currentTime, const Rotation2d& gyroAngle,
const DifferentialDriveWheelSpeeds& wheelSpeeds) {
units::second_t deltaTime =
(m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
m_previousTime = currentTime;
auto angle = gyroAngle + m_gyroOffset;
auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(wheelSpeeds);
static_cast<void>(dtheta);

6
wpilibc/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
View File

@@ -10,18 +10,22 @@
using namespace frc;
MecanumDriveOdometry::MecanumDriveOdometry(MecanumDriveKinematics kinematics,
const Rotation2d& gyroAngle,
const Pose2d& initialPose)
: m_kinematics(kinematics), m_pose(initialPose) {
m_previousAngle = m_pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;
}
const Pose2d& MecanumDriveOdometry::UpdateWithTime(
units::second_t currentTime, const Rotation2d& angle,
units::second_t currentTime, const Rotation2d& gyroAngle,
MecanumDriveWheelSpeeds wheelSpeeds) {
units::second_t deltaTime =
(m_previousTime >= 0_s) ? currentTime - m_previousTime : 0_s;
m_previousTime = currentTime;
auto angle = gyroAngle + m_gyroOffset;
auto [dx, dy, dtheta] = m_kinematics.ToChassisSpeeds(wheelSpeeds);
static_cast<void>(dtheta);