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[wpimath] Rework function signatures for Pose Estimation / Odometry (#4642)

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Forcing the use of SwerveModulePostition[] and wpi::array<SwerveModulePosition, len> in place of variadic function signatures.
This commit is contained in:
Jordan McMichael
2022-11-17 13:36:33 -05:00
committed by GitHub
parent 0401597d3b
commit ce4c45df13
9 changed files with 84 additions and 104 deletions
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6
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -44,9 +44,9 @@ 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_odometry.Update(m_gyro.GetRotation2d(),
{m_frontLeft.GetPosition(), m_rearLeft.GetPosition(),
m_frontRight.GetPosition(), m_rearRight.GetPosition()});
}
void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,