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[wpimath] ChassisSpeeds fromRelative and discretize methods made instance methods (#7115)

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This commit is contained in:
Nicholas Armstrong
2024-10-22 19:23:17 -04:00
committed by GitHub
parent cbc9264468
commit a3b12b3bd9
8 changed files with 127 additions and 52 deletions
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14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -136,14 +136,12 @@ public class Drivetrain {
*/
public void drive(
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var mecanumDriveWheelSpeeds =
m_kinematics.toWheelSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot),
periodSeconds));
var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
if (fieldRelative) {
chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
}
chassisSpeeds.discretize(periodSeconds);
var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
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@@ -148,14 +148,12 @@ public class Drivetrain {
*/
public void drive(
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var mecanumDriveWheelSpeeds =
m_kinematics.toWheelSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
: new ChassisSpeeds(xSpeed, ySpeed, rot),
periodSeconds));
var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
if (fieldRelative) {
chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
}
chassisSpeeds.discretize(periodSeconds);
var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
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@@ -57,14 +57,12 @@ public class Drivetrain {
*/
public void drive(
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var swerveModuleStates =
m_kinematics.toSwerveModuleStates(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot),
periodSeconds));
var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
if (fieldRelative) {
chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
}
chassisSpeeds.discretize(periodSeconds);
var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);

14
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
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@@ -118,14 +118,12 @@ public class DriveSubsystem extends SubsystemBase {
* @param fieldRelative Whether the provided x and y speeds are relative to the field.
*/
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
var swerveModuleStates =
DriveConstants.kDriveKinematics.toSwerveModuleStates(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot),
DriveConstants.kDrivePeriod));
var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
if (fieldRelative) {
chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
}
chassisSpeeds.discretize(DriveConstants.kDrivePeriod);
var swerveModuleStates = DriveConstants.kDriveKinematics.toWheelSpeeds(chassisSpeeds);
SwerveDriveKinematics.desaturateWheelSpeeds(
swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
m_frontLeft.setDesiredState(swerveModuleStates[0]);

24
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
View File

@@ -36,8 +36,11 @@ public class Drivetrain {
new SwerveDriveKinematics(
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);
/* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used
below are robot specific, and should be tuned. */
/*
* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings.
* The numbers used
* below are robot specific, and should be tuned.
*/
private final SwerveDrivePoseEstimator m_poseEstimator =
new SwerveDrivePoseEstimator(
m_kinematics,
@@ -66,14 +69,12 @@ public class Drivetrain {
*/
public void drive(
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var swerveModuleStates =
m_kinematics.toSwerveModuleStates(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
: new ChassisSpeeds(xSpeed, ySpeed, rot),
periodSeconds));
var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
if (fieldRelative) {
chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
}
chassisSpeeds.discretize(periodSeconds);
var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -92,7 +93,8 @@ public class Drivetrain {
m_backRight.getPosition()
});
// Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
// Also apply vision measurements. We use 0.3 seconds in the past as an example
// -- on
// a real robot, this must be calculated based either on latency or timestamps.
m_poseEstimator.addVisionMeasurement(
ExampleGlobalMeasurementSensor.getEstimatedGlobalPose(