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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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60
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.hpp
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@@ -52,59 +52,59 @@ class Drivetrain {
m_rightLeader.SetInverted(true);
frc::SmartDashboard::PutData("Field", &m_fieldSim);
wpi::SmartDashboard::PutData("Field", &m_fieldSim);
}
static constexpr units::meters_per_second_t kMaxSpeed =
static constexpr wpi::units::meters_per_second_t kMaxSpeed =
3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
static constexpr wpi::units::radians_per_second_t kMaxAngularSpeed{
std::numbers::pi}; // 1/2 rotation per second
void SetSpeeds(const frc::DifferentialDriveWheelSpeeds& speeds);
void Drive(units::meters_per_second_t xSpeed,
units::radians_per_second_t rot);
void SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds);
void Drive(wpi::units::meters_per_second_t xSpeed,
wpi::units::radians_per_second_t rot);
void UpdateOdometry();
void ResetOdometry(const frc::Pose2d& pose);
void ResetOdometry(const wpi::math::Pose2d& pose);
frc::Pose2d GetPose() const { return m_odometry.GetPose(); }
wpi::math::Pose2d GetPose() const { return m_odometry.GetPose(); }
void SimulationPeriodic();
void Periodic();
private:
static constexpr units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr wpi::units::meter_t kTrackwidth = 0.381_m * 2;
static constexpr double kWheelRadius = 0.0508; // meters
static constexpr int kEncoderResolution = 4096;
frc::PWMSparkMax m_leftLeader{1};
frc::PWMSparkMax m_leftFollower{2};
frc::PWMSparkMax m_rightLeader{3};
frc::PWMSparkMax m_rightFollower{4};
wpi::PWMSparkMax m_leftLeader{1};
wpi::PWMSparkMax m_leftFollower{2};
wpi::PWMSparkMax m_rightLeader{3};
wpi::PWMSparkMax m_rightFollower{4};
frc::Encoder m_leftEncoder{0, 1};
frc::Encoder m_rightEncoder{2, 3};
wpi::Encoder m_leftEncoder{0, 1};
wpi::Encoder m_rightEncoder{2, 3};
frc::PIDController m_leftPIDController{8.5, 0.0, 0.0};
frc::PIDController m_rightPIDController{8.5, 0.0, 0.0};
wpi::math::PIDController m_leftPIDController{8.5, 0.0, 0.0};
wpi::math::PIDController m_rightPIDController{8.5, 0.0, 0.0};
frc::OnboardIMU m_imu{frc::OnboardIMU::kFlat};
wpi::OnboardIMU m_imu{wpi::OnboardIMU::kFlat};
frc::DifferentialDriveKinematics m_kinematics{kTrackwidth};
frc::DifferentialDriveOdometry m_odometry{
m_imu.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
wpi::math::DifferentialDriveKinematics m_kinematics{kTrackwidth};
wpi::math::DifferentialDriveOdometry m_odometry{
m_imu.GetRotation2d(), wpi::units::meter_t{m_leftEncoder.GetDistance()},
wpi::units::meter_t{m_rightEncoder.GetDistance()}};
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
// Simulation classes help us simulate our robot
frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
frc::Field2d m_fieldSim;
frc::LinearSystem<2, 2, 2> m_drivetrainSystem =
frc::LinearSystemId::IdentifyDrivetrainSystem(
wpi::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
wpi::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
wpi::Field2d m_fieldSim;
wpi::math::LinearSystem<2, 2, 2> m_drivetrainSystem =
wpi::math::LinearSystemId::IdentifyDrivetrainSystem(
1.98_V / 1_mps, 0.2_V / 1_mps_sq, 1.5_V / 1_mps, 0.3_V / 1_mps_sq);
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackwidth, frc::DCMotor::CIM(2), 8, 2_in};
wpi::sim::DifferentialDrivetrainSim m_drivetrainSimulator{
m_drivetrainSystem, kTrackwidth, wpi::math::DCMotor::CIM(2), 8, 2_in};
};