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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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16
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/differentialdrivebot/Drivetrain.java
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@@ -14,7 +14,6 @@ import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
@@ -73,17 +72,7 @@ public class Drivetrain {
m_leftEncoder.reset();
m_rightEncoder.reset();
m_odometry = new DifferentialDriveOdometry(getAngle());
}
/**
* Returns the angle of the robot as a Rotation2d.
*
* @return The angle of the robot.
*/
public Rotation2d getAngle() {
// Negating the angle because WPILib gyros are CW positive.
return Rotation2d.fromDegrees(-m_gyro.getAngle());
m_odometry = new DifferentialDriveOdometry(m_gyro.getRotation2d());
}
/**
@@ -119,6 +108,7 @@ public class Drivetrain {
* Updates the field-relative position.
*/
public void updateOdometry() {
m_odometry.update(getAngle(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
m_rightEncoder.getDistance());
}
}

17
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
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@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.controller.PIDController;
import edu.wpi.first.wpilibj.controller.SimpleMotorFeedforward;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
@@ -55,7 +54,7 @@ public class Drivetrain {
);
private final MecanumDriveOdometry m_odometry = new MecanumDriveOdometry(m_kinematics,
getAngle());
m_gyro.getRotation2d());
// Gains are for example purposes only - must be determined for your own robot!
private final SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(1, 3);
@@ -67,16 +66,6 @@ public class Drivetrain {
m_gyro.reset();
}
/**
* Returns the angle of the robot as a Rotation2d.
*
* @return The angle of the robot.
*/
public Rotation2d getAngle() {
// Negating the angle because WPILib gyros are CW positive.
return Rotation2d.fromDegrees(-m_gyro.getAngle());
}
/**
* Returns the current state of the drivetrain.
*
@@ -133,7 +122,7 @@ public class Drivetrain {
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(
fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, getAngle()
xSpeed, ySpeed, rot, m_gyro.getRotation2d()
) : new ChassisSpeeds(xSpeed, ySpeed, rot)
);
mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
@@ -144,6 +133,6 @@ public class Drivetrain {
* Updates the field relative position of the robot.
*/
public void updateOdometry() {
m_odometry.update(getAngle(), getCurrentState());
m_odometry.update(m_gyro.getRotation2d(), getCurrentState());
}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
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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. */
@@ -55,8 +55,6 @@ public final class Constants {
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
public static final boolean 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.

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
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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. */
@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.drive.MecanumDrive;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveMotorVoltages;
import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
@@ -62,7 +61,7 @@ public class DriveSubsystem extends SubsystemBase {
// Odometry class for tracking robot pose
MecanumDriveOdometry m_odometry =
new MecanumDriveOdometry(DriveConstants.kDriveKinematics, getAngle());
new MecanumDriveOdometry(DriveConstants.kDriveKinematics, m_gyro.getRotation2d());
/**
* Creates a new DriveSubsystem.
@@ -75,20 +74,10 @@ public class DriveSubsystem extends SubsystemBase {
m_rearRightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
}
/**
* Returns the angle of the robot as a Rotation2d.
*
* @return The angle of the robot.
*/
public Rotation2d getAngle() {
// Negating the angle because WPILib gyros are CW positive.
return Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? 1.0 : -1.0));
}
@Override
public void periodic() {
// Update the odometry in the periodic block
m_odometry.update(getAngle(),
m_odometry.update(m_gyro.getRotation2d(),
new MecanumDriveWheelSpeeds(
m_frontLeftEncoder.getRate(),
m_rearLeftEncoder.getRate(),
@@ -111,7 +100,7 @@ public class DriveSubsystem extends SubsystemBase {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
m_odometry.resetPosition(pose, getAngle());
m_odometry.resetPosition(pose, m_gyro.getRotation2d());
}
/**
@@ -227,10 +216,10 @@ public class DriveSubsystem extends SubsystemBase {
/**
* Returns the heading of the robot.
*
* @return the robot's heading in degrees, from 180 to 180
* @return the robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
return Math.IEEEremainder(m_gyro.getAngle(), 360) * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
return m_gyro.getRotation2d().getDegrees();
}
/**
@@ -239,6 +228,6 @@ public class DriveSubsystem extends SubsystemBase {
* @return The turn rate of the robot, in degrees per second
*/
public double getTurnRate() {
return m_gyro.getRate() * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
return -m_gyro.getRate();
}
}

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/Constants.java
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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. */
@@ -39,8 +39,6 @@ public final class Constants {
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
public static final boolean kGyroReversed = true;
// 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.

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
View File

@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj.PWMVictorSPX;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
@@ -60,13 +59,13 @@ public class DriveSubsystem extends SubsystemBase {
m_rightEncoder.setDistancePerPulse(DriveConstants.kEncoderDistancePerPulse);
resetEncoders();
m_odometry = new DifferentialDriveOdometry(Rotation2d.fromDegrees(getHeading()));
m_odometry = new DifferentialDriveOdometry(m_gyro.getRotation2d());
}
@Override
public void periodic() {
// Update the odometry in the periodic block
m_odometry.update(Rotation2d.fromDegrees(getHeading()), m_leftEncoder.getDistance(),
m_odometry.update(m_gyro.getRotation2d(), m_leftEncoder.getDistance(),
m_rightEncoder.getDistance());
}
@@ -95,7 +94,7 @@ public class DriveSubsystem extends SubsystemBase {
*/
public void resetOdometry(Pose2d pose) {
resetEncoders();
m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading()));
m_odometry.resetPosition(pose, m_gyro.getRotation2d());
}
/**
@@ -177,7 +176,7 @@ public class DriveSubsystem extends SubsystemBase {
* @return the robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
return Math.IEEEremainder(m_gyro.getAngle(), 360) * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
return m_gyro.getRotation2d().getDegrees();
}
/**
@@ -186,6 +185,6 @@ public class DriveSubsystem extends SubsystemBase {
* @return The turn rate of the robot, in degrees per second
*/
public double getTurnRate() {
return m_gyro.getRate() * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
return -m_gyro.getRate();
}
}

20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.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. */
@@ -8,7 +8,6 @@
package edu.wpi.first.wpilibj.examples.swervebot;
import edu.wpi.first.wpilibj.AnalogGyro;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
import edu.wpi.first.wpilibj.geometry.Translation2d;
import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
@@ -37,22 +36,13 @@ public class Drivetrain {
m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation
);
private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics, getAngle());
private final SwerveDriveOdometry m_odometry = new SwerveDriveOdometry(m_kinematics,
m_gyro.getRotation2d());
public Drivetrain() {
m_gyro.reset();
}
/**
* Returns the angle of the robot as a Rotation2d.
*
* @return The angle of the robot.
*/
public Rotation2d getAngle() {
// Negating the angle because WPILib gyros are CW positive.
return Rotation2d.fromDegrees(-m_gyro.getAngle());
}
/**
* Method to drive the robot using joystick info.
*
@@ -65,7 +55,7 @@ public class Drivetrain {
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
var swerveModuleStates = m_kinematics.toSwerveModuleStates(
fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, getAngle())
xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot)
);
SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
@@ -80,7 +70,7 @@ public class Drivetrain {
*/
public void updateOdometry() {
m_odometry.update(
getAngle(),
m_gyro.getRotation2d(),
m_frontLeft.getState(),
m_frontRight.getState(),
m_backLeft.getState(),

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.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. */
@@ -60,7 +60,7 @@ public class DriveSubsystem extends SubsystemBase {
// Odometry class for tracking robot pose
SwerveDriveOdometry m_odometry =
new SwerveDriveOdometry(DriveConstants.kDriveKinematics, getAngle());
new SwerveDriveOdometry(DriveConstants.kDriveKinematics, m_gyro.getRotation2d());
/**
* Creates a new DriveSubsystem.
@@ -68,16 +68,6 @@ public class DriveSubsystem extends SubsystemBase {
public DriveSubsystem() {
}
/**
* Returns the angle of the robot as a Rotation2d.
*
* @return The angle of the robot.
*/
public Rotation2d getAngle() {
// Negating the angle because WPILib gyros are CW positive.
return Rotation2d.fromDegrees(m_gyro.getAngle() * (DriveConstants.kGyroReversed ? 1.0 : -1.0));
}
@Override
public void periodic() {
// Update the odometry in the periodic block
@@ -104,7 +94,7 @@ public class DriveSubsystem extends SubsystemBase {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
m_odometry.resetPosition(pose, getAngle());
m_odometry.resetPosition(pose, m_gyro.getRotation2d());
}
/**
@@ -119,7 +109,7 @@ public class DriveSubsystem extends SubsystemBase {
public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
var swerveModuleStates = DriveConstants.kDriveKinematics.toSwerveModuleStates(
fieldRelative ? ChassisSpeeds.fromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, getAngle())
xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot)
);
SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates,
@@ -164,10 +154,10 @@ public class DriveSubsystem extends SubsystemBase {
/**
* Returns the heading of the robot.
*
* @return the robot's heading in degrees, from 180 to 180
* @return the robot's heading in degrees, from -180 to 180
*/
public double getHeading() {
return Math.IEEEremainder(m_gyro.getAngle(), 360) * (DriveConstants.kGyroReversed ? -1.0 : 1.0);
return m_gyro.getRotation2d().getDegrees();
}
/**