Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Reset odometry in path following examples (#2859)

Browse Source
This commit is contained in:
Prateek Machiraju
2020-11-14 15:01:45 -05:00
committed by GitHub
parent 2ef67f20a7
commit cfac22b4c0
6 changed files with 22 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -133,6 +133,9 @@ public class RobotContainer {
m_robotDrive
);
// Reset odometry to the starting pose of the trajectory.
m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
// Run path following command, then stop at the end.
return mecanumControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
}

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -135,6 +135,9 @@ public class RobotContainer {
m_robotDrive
);
// Reset odometry to the starting pose of the trajectory.
m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVolts(0, 0));
}

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
View File

@@ -117,6 +117,9 @@ public class RobotContainer {
);
// Reset odometry to the starting pose of the trajectory.
m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
// Run path following command, then stop at the end.
return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
}