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Use FPGA Time instead of wall clock time for odometry (#1996)

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This commit is contained in:
Prateek Machiraju
2019-10-27 10:57:35 -04:00
committed by Peter Johnson
parent d4430b765e
commit 8e333c0aad
6 changed files with 13 additions and 12 deletions
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5
wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
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@@ -11,6 +11,7 @@
#include "DifferentialDriveKinematics.h"
#include "frc/geometry/Pose2d.h"
#include "frc2/Timer.h"
namespace frc {
/**
@@ -86,9 +87,7 @@ class DifferentialDriveOdometry {
*/
const Pose2d& Update(const Rotation2d& angle,
const DifferentialDriveWheelSpeeds& wheelSpeeds) {
const auto now = std::chrono::system_clock::now().time_since_epoch();
units::second_t time{now};
return UpdateWithTime(time, angle, wheelSpeeds);
return UpdateWithTime(frc2::Timer::GetFPGATimestamp(), angle, wheelSpeeds);
}
private: