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[wpilib] Add noise to Differential Drive simulator (#2903)

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Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
This commit is contained in:
Matt
2020-12-04 18:46:50 -08:00
committed by GitHub
parent 387f56cb7b
commit 963ad5c255
10 changed files with 253 additions and 93 deletions
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16
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
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@@ -42,14 +42,14 @@ void DriveSubsystem::SimulationPeriodic() {
frc::RobotController::GetInputVoltage());
m_drivetrainSimulator.Update(20_ms);
m_leftEncoderSim.SetDistance(m_drivetrainSimulator.GetState(
frc::sim::DifferentialDrivetrainSim::State::kLeftPosition));
m_leftEncoderSim.SetRate(m_drivetrainSimulator.GetState(
frc::sim::DifferentialDrivetrainSim::State::kLeftVelocity));
m_rightEncoderSim.SetDistance(m_drivetrainSimulator.GetState(
frc::sim::DifferentialDrivetrainSim::State::kRightPosition));
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetState(
frc::sim::DifferentialDrivetrainSim::State::kRightVelocity));
m_leftEncoderSim.SetDistance(
m_drivetrainSimulator.GetLeftPosition().to<double>());
m_leftEncoderSim.SetRate(
m_drivetrainSimulator.GetLeftVelocity().to<double>());
m_rightEncoderSim.SetDistance(
m_drivetrainSimulator.GetRightPosition().to<double>());
m_rightEncoderSim.SetRate(
m_drivetrainSimulator.GetRightVelocity().to<double>());
m_gyroAngleSim.SetAngle(
-m_drivetrainSimulator.GetHeading().Degrees().to<double>());

9
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
View File

@@ -161,9 +161,12 @@ class DriveSubsystem : public frc2::SubsystemBase {
// These classes help simulate our drivetrain.
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
DriveConstants::kDrivetrainPlant, DriveConstants::kTrackwidth,
DriveConstants::kDrivetrainGearbox, DriveConstants::kDrivetrainGearing,
DriveConstants::kWheelDiameter / 2};
DriveConstants::kDrivetrainPlant,
DriveConstants::kTrackwidth,
DriveConstants::kDrivetrainGearbox,
DriveConstants::kDrivetrainGearing,
DriveConstants::kWheelDiameter / 2,
{0.001, 0.001, 0.0001, 0.1, 0.1, 0.005, 0.005}};
frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};