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[examples] Don't reset encoders when resetting odometry (#6329)

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This commit is contained in:
Ryan Blue
2024-01-31 16:18:07 -05:00
committed by GitHub
parent 60c6ed9812
commit cb094e4ff6
6 changed files with 0 additions and 8 deletions
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1
wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -91,7 +91,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
}
void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}, pose);

2
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -30,8 +30,6 @@ void Drivetrain::UpdateOdometry() {
}
void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
m_leftEncoder.Reset();
m_rightEncoder.Reset();
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},

1
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
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@@ -112,7 +112,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
}
void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
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@@ -102,7 +102,6 @@ public class DriveSubsystem extends SubsystemBase {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
resetEncoders();
m_odometry.resetPosition(
m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
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@@ -123,8 +123,6 @@ public class Drivetrain {
/** Resets robot odometry. */
public void resetOdometry(Pose2d pose) {
m_leftEncoder.reset();
m_rightEncoder.reset();
m_drivetrainSimulator.setPose(pose);
m_odometry.resetPosition(
m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
View File

@@ -179,7 +179,6 @@ public class DriveSubsystem extends SubsystemBase {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
resetEncoders();
m_drivetrainSimulator.setPose(pose);
m_odometry.resetPosition(
Rotation2d.fromDegrees(getHeading()),