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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/RamseteController/cpp/Drivetrain.cpp
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@@ -28,7 +28,9 @@ void Drivetrain::UpdateOdometry() {
}
void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}, pose);
}
frc::Pose2d Drivetrain::GetPose() const {

4
wpilibcExamples/src/main/cpp/examples/RamseteController/include/Drivetrain.h
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@@ -76,7 +76,9 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
// Gains are for example purposes only - must be determined for your own
// robot!