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

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

7
wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
View File

@@ -81,6 +81,13 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds();
/**
* Gets the distances travelled by each wheel.
*
* @return the distances travelled by each wheel.
*/
frc::MecanumDriveWheelPositions getCurrentWheelDistances();
/**
* Sets the drive MotorControllers to a desired voltage.
*/