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[wpimath] Add optimize() to SwerveModuleState (#3065)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Matt
2021-01-10 22:49:46 -08:00
committed by GitHub
parent fb99910c23
commit e955037980
9 changed files with 79 additions and 11 deletions
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20
wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleState.java
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@@ -48,4 +48,24 @@ public class SwerveModuleState implements Comparable<SwerveModuleState> {
return String.format(
"SwerveModuleState(Speed: %.2f m/s, Angle: %s)", speedMetersPerSecond, angle);
}
/**
* Minimize the change in heading the desired swerve module state would require by potentially
* reversing the direction the wheel spins. If this is used with the PIDController class's
* continuous input functionality, the furthest a wheel will ever rotate is 90 degrees.
*
* @param desiredState The desired state.
* @param currentAngle The current module angle.
*/
public static SwerveModuleState optimize(
SwerveModuleState desiredState, Rotation2d currentAngle) {
var delta = desiredState.angle.minus(currentAngle);
if (Math.abs(delta.getDegrees()) > 90.0) {
return new SwerveModuleState(
-desiredState.speedMetersPerSecond,
desiredState.angle.rotateBy(Rotation2d.fromDegrees(180.0)));
} else {
return new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
}
}
}