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[wpilib] Add Gyro::GetRotation2d() (#2555)

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This commit is contained in:
Tyler Veness
2020-06-29 19:10:07 -07:00
committed by GitHub
parent d9c7bbd046
commit e50dbe0c43
25 changed files with 130 additions and 188 deletions
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3
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
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@@ -25,6 +25,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(GetAngle(), units::meter_t(m_leftEncoder.GetDistance()),
m_odometry.Update(m_gyro.GetRotation2d(),
units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
}

10
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.h
View File

@@ -37,14 +37,6 @@ class Drivetrain {
m_rightEncoder.Reset();
}
/**
* Get the robot angle as a Rotation2d.
*/
frc::Rotation2d GetAngle() const {
// Negating the angle because WPILib Gyros are CW positive.
return frc::Rotation2d(units::degree_t(-m_gyro.GetAngle()));
}
static constexpr units::meters_per_second_t kMaxSpeed =
3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
@@ -77,7 +69,7 @@ class Drivetrain {
frc::AnalogGyro m_gyro{0};
frc::DifferentialDriveKinematics m_kinematics{kTrackWidth};
frc::DifferentialDriveOdometry m_odometry{GetAngle()};
frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
// Gains are for example purposes only - must be determined for your own
// robot!