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[examples] Convert the unitless joystick inputs to actual physical units (#5451)

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Taking the joystick inputs from -1 to 1, multiply them by the max speed (as defined in Constants.java) to get the target speed, rather than using the unitless raw joystick inputs.
This commit is contained in:
Jason
2023-07-17 20:18:34 -04:00
committed by GitHub
parent 1f6428ab63
commit 9b8d90b852
2 changed files with 15 additions and 6 deletions
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10
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
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@@ -35,9 +35,13 @@ RobotContainer::RobotContainer() {
m_drive.SetDefaultCommand(frc2::RunCommand(
[this] {
m_drive.Drive(
units::meters_per_second_t{m_driverController.GetLeftY()},
units::meters_per_second_t{m_driverController.GetLeftX()},
units::radians_per_second_t{m_driverController.GetRightX()}, false);
// Multiply by max speed to map the joystick unitless inputs to
// actual units. This will map the [-1, 1] to [max speed backwards,
// max speed forwards], converting them to actual units.
m_driverController.GetLeftY() * AutoConstants::kMaxSpeed,
m_driverController.GetLeftX() * AutoConstants::kMaxSpeed,
m_driverController.GetRightX() * AutoConstants::kMaxAngularSpeed,
false);
},
{&m_drive}));
}

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
View File

@@ -15,6 +15,7 @@ import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj2.command.Command;
@@ -48,9 +49,13 @@ public class RobotContainer {
new RunCommand(
() ->
m_robotDrive.drive(
m_driverController.getLeftY(),
m_driverController.getLeftX(),
m_driverController.getRightX(),
// Multiply by max speed to map the joystick unitless inputs to actual units.
// This will map the [-1, 1] to [max speed backwards, max speed forwards],
// converting them to actual units.
m_driverController.getLeftY() * DriveConstants.kMaxSpeedMetersPerSecond,
m_driverController.getLeftX() * DriveConstants.kMaxSpeedMetersPerSecond,
m_driverController.getRightX()
* ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
false),
m_robotDrive));
}