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[examples] Update Romi template and example (#2996)

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Updated the RomiReference example to have autonomous example.
Updated RomiReference and both Romi templates to use Encoder.getDistance().
Removed motor inversion.
This commit is contained in:
jpokornyiii
2020-12-31 01:45:04 -05:00
committed by GitHub
parent 6ffe5b775d
commit bf8f8710ea
12 changed files with 348 additions and 52 deletions
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21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romicommandbased/subsystems/RomiDrivetrain.java
View File

@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class RomiDrivetrain extends SubsystemBase {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75;
private static final double kWheelDiameterInch = 2.75591; // 70 mm
// The Romi has the left and right motors set to
// PWM channels 0 and 1 respectively
@@ -28,10 +28,9 @@ public class RomiDrivetrain extends SubsystemBase {
/** Creates a new RomiDrivetrain. */
public RomiDrivetrain() {
// DifferentialDrive defaults to having the right side flipped
// We don't need to do this because the Romi has accounted for this
// in firmware/hardware
m_diffDrive.setRightSideInverted(false);
// Use inches as unit for encoder distances
m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
resetEncoders();
}
@@ -44,20 +43,12 @@ public class RomiDrivetrain extends SubsystemBase {
m_rightEncoder.reset();
}
public int getLeftEncoderCount() {
return m_leftEncoder.get();
}
public int getRightEncoderCount() {
return m_rightEncoder.get();
}
public double getLeftDistanceInch() {
return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution);
return m_leftEncoder.getDistance();
}
public double getRightDistanceInch() {
return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution);
return m_rightEncoder.getDistance();
}
@Override

21
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/romitimed/RomiDrivetrain.java
View File

@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
public class RomiDrivetrain {
private static final double kCountsPerRevolution = 1440.0;
private static final double kWheelDiameterInch = 2.75;
private static final double kWheelDiameterInch = 2.75591; // 70 mm
// The Romi has the left and right motors set to
// PWM channels 0 and 1 respectively
@@ -27,10 +27,9 @@ public class RomiDrivetrain {
/** Creates a new RomiDrivetrain. */
public RomiDrivetrain() {
// DifferentialDrive defaults to having the right side flipped
// We don't need to do this because the Romi has accounted for this
// in firmware/hardware
m_diffDrive.setRightSideInverted(false);
// Use inches as unit for encoder distances
m_leftEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
m_rightEncoder.setDistancePerPulse((Math.PI * kWheelDiameterInch) / kCountsPerRevolution);
resetEncoders();
}
@@ -43,19 +42,11 @@ public class RomiDrivetrain {
m_rightEncoder.reset();
}
public int getLeftEncoderCount() {
return m_leftEncoder.get();
}
public int getRightEncoderCount() {
return m_rightEncoder.get();
}
public double getLeftDistanceInch() {
return Math.PI * kWheelDiameterInch * (getLeftEncoderCount() / kCountsPerRevolution);
return m_leftEncoder.getDistance();
}
public double getRightDistanceInch() {
return Math.PI * kWheelDiameterInch * (getRightEncoderCount() / kCountsPerRevolution);
return m_rightEncoder.getDistance();
}
}