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[wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616)

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This better reflects what's actually going on mathematically.
This commit is contained in:
Tyler Veness
2023-09-08 20:14:59 -07:00
committed by GitHub
parent 8e05983a4a
commit a9ab08f48b
14 changed files with 101 additions and 73 deletions
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2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
View File

@@ -132,7 +132,7 @@ public class Drivetrain {
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var mecanumDriveWheelSpeeds =
m_kinematics.toWheelSpeeds(
ChassisSpeeds.fromDiscreteSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
View File

@@ -144,7 +144,7 @@ public class Drivetrain {
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var mecanumDriveWheelSpeeds =
m_kinematics.toWheelSpeeds(
ChassisSpeeds.fromDiscreteSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
View File

@@ -59,7 +59,7 @@ public class Drivetrain {
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var swerveModuleStates =
m_kinematics.toSwerveModuleStates(
ChassisSpeeds.fromDiscreteSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
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@@ -120,7 +120,7 @@ public class DriveSubsystem extends Subsystem {
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
var swerveModuleStates =
DriveConstants.kDriveKinematics.toSwerveModuleStates(
ChassisSpeeds.fromDiscreteSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
View File

@@ -68,7 +68,7 @@ public class Drivetrain {
double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
var swerveModuleStates =
m_kinematics.toSwerveModuleStates(
ChassisSpeeds.fromDiscreteSpeeds(
ChassisSpeeds.discretize(
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.getRotation2d())