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[wpimath] Rework odometry APIs to improve feature parity (#4645)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Jordan McMichael
2022-11-18 23:42:00 -05:00
committed by GitHub
parent e2d49181da
commit 902e8686d3
53 changed files with 266 additions and 157 deletions
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4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -79,7 +79,9 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::DifferentialDrivePoseEstimator m_poseEstimator{
frc::Rotation2d{},
m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()},
frc::Pose2d{},
{0.01, 0.01, 0.01, 0.01, 0.01},
{0.1, 0.1, 0.1},