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[examples] Fix swerve examples to use getDistance for turning encoder (#4652)

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This commit is contained in:
sciencewhiz
2022-11-18 14:06:21 -08:00
committed by GitHub
parent 295a1f8f3b
commit 8acce443f0
3 changed files with 18 additions and 15 deletions
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11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
View File

@@ -73,7 +73,7 @@ public class SwerveModule {
// resolution.
m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
// Set the distance (in this case, angle) per pulse for the turning encoder.
// Set the distance (in this case, angle) in radians per pulse for the turning encoder.
// This is the the angle through an entire rotation (2 * pi) divided by the
// encoder resolution.
m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
@@ -89,7 +89,8 @@ public class SwerveModule {
* @return The current state of the module.
*/
public SwerveModuleState getState() {
return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
return new SwerveModuleState(
m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -99,7 +100,7 @@ public class SwerveModule {
*/
public SwerveModulePosition getPosition() {
return new SwerveModulePosition(
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -110,7 +111,7 @@ public class SwerveModule {
public void setDesiredState(SwerveModuleState desiredState) {
// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
// Calculate the drive output from the drive PID controller.
final double driveOutput =
@@ -120,7 +121,7 @@ public class SwerveModule {
// Calculate the turning motor output from the turning PID controller.
final double turnOutput =
m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
final double turnFeedforward =
m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
View File

@@ -66,7 +66,7 @@ public class SwerveModule {
// Set whether drive encoder should be reversed or not
m_driveEncoder.setReverseDirection(driveEncoderReversed);
// Set the distance (in this case, angle) per pulse for the turning encoder.
// Set the distance (in this case, angle) in radians per pulse for the turning encoder.
// This is the the angle through an entire rotation (2 * pi) divided by the
// encoder resolution.
m_turningEncoder.setDistancePerPulse(ModuleConstants.kTurningEncoderDistancePerPulse);
@@ -85,7 +85,8 @@ public class SwerveModule {
* @return The current state of the module.
*/
public SwerveModuleState getState() {
return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
return new SwerveModuleState(
m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -95,7 +96,7 @@ public class SwerveModule {
*/
public SwerveModulePosition getPosition() {
return new SwerveModulePosition(
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -106,7 +107,7 @@ public class SwerveModule {
public void setDesiredState(SwerveModuleState desiredState) {
// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
// Calculate the drive output from the drive PID controller.
final double driveOutput =
@@ -114,7 +115,7 @@ public class SwerveModule {
// Calculate the turning motor output from the turning PID controller.
final double turnOutput =
m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
// Calculate the turning motor output from the turning PID controller.
m_driveMotor.set(driveOutput);

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
View File

@@ -73,7 +73,7 @@ public class SwerveModule {
// resolution.
m_driveEncoder.setDistancePerPulse(2 * Math.PI * kWheelRadius / kEncoderResolution);
// Set the distance (in this case, angle) per pulse for the turning encoder.
// Set the distance (in this case, angle) in radians per pulse for the turning encoder.
// This is the the angle through an entire rotation (2 * pi) divided by the
// encoder resolution.
m_turningEncoder.setDistancePerPulse(2 * Math.PI / kEncoderResolution);
@@ -89,7 +89,8 @@ public class SwerveModule {
* @return The current state of the module.
*/
public SwerveModuleState getState() {
return new SwerveModuleState(m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.get()));
return new SwerveModuleState(
m_driveEncoder.getRate(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -99,7 +100,7 @@ public class SwerveModule {
*/
public SwerveModulePosition getPosition() {
return new SwerveModulePosition(
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.get()));
m_driveEncoder.getDistance(), new Rotation2d(m_turningEncoder.getDistance()));
}
/**
@@ -110,7 +111,7 @@ public class SwerveModule {
public void setDesiredState(SwerveModuleState desiredState) {
// Optimize the reference state to avoid spinning further than 90 degrees
SwerveModuleState state =
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.get()));
SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
// Calculate the drive output from the drive PID controller.
final double driveOutput =
@@ -120,7 +121,7 @@ public class SwerveModule {
// Calculate the turning motor output from the turning PID controller.
final double turnOutput =
m_turningPIDController.calculate(m_turningEncoder.get(), state.angle.getRadians());
m_turningPIDController.calculate(m_turningEncoder.getDistance(), state.angle.getRadians());
final double turnFeedforward =
m_turnFeedforward.calculate(m_turningPIDController.getSetpoint().velocity);