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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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4
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -48,12 +48,12 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::radians_per_second_t rot, bool fieldRelative) {
auto wheelSpeeds = m_kinematics.ToWheelSpeeds(
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, GetAngle())
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
wheelSpeeds.Normalize(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}
void Drivetrain::UpdateOdometry() {
m_odometry.Update(GetAngle(), GetCurrentState());
m_odometry.Update(m_gyro.GetRotation2d(), GetCurrentState());
}

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

@@ -25,14 +25,6 @@ class Drivetrain {
public:
Drivetrain() { m_gyro.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()));
}
frc::MecanumDriveWheelSpeeds GetCurrentState() const;
void SetSpeeds(const frc::MecanumDriveWheelSpeeds& wheelSpeeds);
void Drive(units::meters_per_second_t xSpeed,
@@ -72,7 +64,7 @@ class Drivetrain {
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation,
m_backRightLocation};
frc::MecanumDriveOdometry m_odometry{m_kinematics, GetAngle()};
frc::MecanumDriveOdometry m_odometry{m_kinematics, m_gyro.GetRotation2d()};
// Gains are for example purposes only - must be determined for your own
// robot!