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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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21
wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
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@@ -5,6 +5,8 @@
#pragma once
#include "frc/geometry/Rotation2d.h"
#include "units/angle.h"
#include "units/math.h"
#include "units/velocity.h"
namespace frc {
@@ -21,5 +23,24 @@ struct SwerveModuleState {
* Angle of the module.
*/
Rotation2d 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.
*/
static SwerveModuleState Optimize(const SwerveModuleState& desiredState,
const Rotation2d& currentAngle) {
auto delta = desiredState.angle - currentAngle;
if (units::math::abs(delta.Degrees()) > 90_deg) {
return {-desiredState.speed, desiredState.angle + Rotation2d{180_deg}};
} else {
return {desiredState.speed, desiredState.angle};
}
}
};
} // namespace frc