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[wpimath] Add timestamp getter to MathShared (#5091)

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This makes it possible to mock the timestamp for wpimath without affecting the rest of the library.

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Jonah
2023-02-17 17:53:17 -05:00
committed by GitHub
parent 9cc14bbb43
commit e9a7bed988
16 changed files with 76 additions and 21 deletions
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3
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -18,6 +18,7 @@
#include "frc/kinematics/SwerveDriveKinematics.h"
#include "frc/kinematics/SwerveDriveOdometry.h"
#include "units/time.h"
#include "wpimath/MathShared.h"
namespace frc {
@@ -272,7 +273,7 @@ class SwerveDrivePoseEstimator {
Pose2d Update(
const Rotation2d& gyroAngle,
const wpi::array<SwerveModulePosition, NumModules>& modulePositions) {
return UpdateWithTime(units::microsecond_t(wpi::Now()), gyroAngle,
return UpdateWithTime(wpi::math::MathSharedStore::GetTimestamp(), gyroAngle,
modulePositions);
}

8
wpimath/src/main/native/include/frc/filter/SlewRateLimiter.h
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@@ -10,6 +10,7 @@
#include <wpi/timestamp.h>
#include "units/time.h"
#include "wpimath/MathShared.h"
namespace frc {
/**
@@ -45,7 +46,8 @@ class SlewRateLimiter {
: m_positiveRateLimit{positiveRateLimit},
m_negativeRateLimit{negativeRateLimit},
m_prevVal{initialValue},
m_prevTime{units::microsecond_t(wpi::Now())} {}
m_prevTime{
units::microsecond_t(wpi::math::MathSharedStore::GetTimestamp())} {}
/**
* Creates a new SlewRateLimiter with the given positive rate limit and
@@ -77,7 +79,7 @@ class SlewRateLimiter {
* rate.
*/
Unit_t Calculate(Unit_t input) {
units::second_t currentTime = units::microsecond_t(wpi::Now());
units::second_t currentTime = wpi::math::MathSharedStore::GetTimestamp();
units::second_t elapsedTime = currentTime - m_prevTime;
m_prevVal +=
std::clamp(input - m_prevVal, m_negativeRateLimit * elapsedTime,
@@ -94,7 +96,7 @@ class SlewRateLimiter {
*/
void Reset(Unit_t value) {
m_prevVal = value;
m_prevTime = units::microsecond_t(wpi::Now());
m_prevTime = wpi::math::MathSharedStore::GetTimestamp();
}
private: