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[wpimath] Position Delta Odometry for Mecanum (#4514)

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This commit is contained in:
Jordan McMichael
2022-10-25 15:28:59 -04:00
committed by GitHub
parent 4170ec6107
commit 901fc555f4
28 changed files with 1222 additions and 235 deletions
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4
wpilibcExamples/src/main/cpp/examples/MecanumBot/include/Drivetrain.h
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@@ -31,6 +31,7 @@ class Drivetrain {
}
frc::MecanumDriveWheelSpeeds GetCurrentState() const;
frc::MecanumDriveWheelPositions GetCurrentWheelDistances() const;
void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
@@ -69,7 +70,8 @@ class Drivetrain {
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d()};
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d(),
GetCurrentWheelDistances()};
// Gains are for example purposes only - must be determined for your own
// robot!