Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[examples] Fix order of Swerve Modules in Odometry Update (#8396)

Browse Source 
The order of the Swerve Modules in the m_odometry.Update call needs to
match the order they are defined in the creation of the kDriveKinematics
object.
This commit is contained in:
Warren Reynolds
2025-11-19 12:13:27 +11:00
committed by GitHub
parent 95cb38e6df
commit bd7a88a6d0
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
View File

@@ -45,8 +45,8 @@ DriveSubsystem::DriveSubsystem()
void DriveSubsystem::Periodic() {
// Implementation of subsystem periodic method goes here.
m_odometry.Update(m_gyro.GetRotation2d(),
{m_frontLeft.GetPosition(), m_rearLeft.GetPosition(),
m_frontRight.GetPosition(), m_rearRight.GetPosition()});
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_rearLeft.GetPosition(), m_rearRight.GetPosition()});
}
void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,