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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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3
wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/DifferentialDriveOdometry.java
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@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj.kinematics;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -116,7 +117,7 @@ public class DifferentialDriveOdometry {
*/
public Pose2d update(Rotation2d angle,
DifferentialDriveWheelSpeeds wheelSpeeds) {
return updateWithTime(System.currentTimeMillis() / 1000.0,
return updateWithTime(Timer.getFPGATimestamp(),
angle, wheelSpeeds);
}
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveOdometry.java
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@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj.kinematics;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -109,7 +110,7 @@ public class MecanumDriveOdometry {
*/
public Pose2d update(Rotation2d angle,
MecanumDriveWheelSpeeds wheelSpeeds) {
return updateWithTime(System.currentTimeMillis() / 1000.0, angle,
return updateWithTime(Timer.getFPGATimestamp(), angle,
wheelSpeeds);
}
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveOdometry.java
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@@ -7,6 +7,7 @@
package edu.wpi.first.wpilibj.kinematics;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Twist2d;
@@ -113,6 +114,6 @@ public class SwerveDriveOdometry {
* @return The new pose of the robot.
*/
public Pose2d update(Rotation2d angle, SwerveModuleState... moduleStates) {
return updateWithTime(System.currentTimeMillis() / 1000.0, angle, moduleStates);
return updateWithTime(Timer.getFPGATimestamp(), angle, moduleStates);
}
}