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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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23
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -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. */
@@ -37,15 +37,13 @@ DriveSubsystem::DriveSubsystem()
kRearRightDriveEncoderPorts, kRearRightTurningEncoderPorts,
kRearRightDriveEncoderReversed, kRearRightTurningEncoderReversed},
m_odometry{kDriveKinematics,
frc::Rotation2d(units::degree_t(GetHeading())),
frc::Pose2d()} {}
m_odometry{kDriveKinematics, m_gyro.GetRotation2d(), frc::Pose2d()} {}
void DriveSubsystem::Periodic() {
// Implementation of subsystem periodic method goes here.
m_odometry.Update(frc::Rotation2d(units::degree_t(GetHeading())),
m_frontLeft.GetState(), m_rearLeft.GetState(),
m_frontRight.GetState(), m_rearRight.GetState());
m_odometry.Update(m_gyro.GetRotation2d(), m_frontLeft.GetState(),
m_rearLeft.GetState(), m_frontRight.GetState(),
m_rearRight.GetState());
}
void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
@@ -54,8 +52,7 @@ void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
bool fieldRelative) {
auto states = kDriveKinematics.ToSwerveModuleStates(
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot,
frc::Rotation2d(units::degree_t(GetHeading())))
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
kDriveKinematics.NormalizeWheelSpeeds(&states, AutoConstants::kMaxSpeed);
@@ -85,15 +82,13 @@ void DriveSubsystem::ResetEncoders() {
m_rearRight.ResetEncoders();
}
double DriveSubsystem::GetHeading() {
return std::remainder(m_gyro.GetAngle(), 360) * (kGyroReversed ? -1. : 1.);
units::degree_t DriveSubsystem::GetHeading() const {
return m_gyro.GetRotation2d().Degrees();
}
void DriveSubsystem::ZeroHeading() { m_gyro.Reset(); }
double DriveSubsystem::GetTurnRate() {
return m_gyro.GetRate() * (kGyroReversed ? -1. : 1.);
}
double DriveSubsystem::GetTurnRate() { return -m_gyro.GetRate(); }
frc::Pose2d DriveSubsystem::GetPose() { return m_odometry.GetPose(); }

4
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
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@@ -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. */
@@ -53,8 +53,6 @@ constexpr bool kRearLeftDriveEncoderReversed = true;
constexpr bool kFrontRightDriveEncoderReversed = false;
constexpr bool kRearRightDriveEncoderReversed = true;
constexpr bool kGyroReversed = false;
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or
// theoretically for *your* robot's drive. The RobotPy Characterization

4
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
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@@ -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. */
@@ -63,7 +63,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
*
* @return the robot's heading in degrees, from 180 to 180
*/
double GetHeading();
units::degree_t GetHeading() const;
/**
* Zeroes the heading of the robot.