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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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!