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[wpilib] Enable continuous input on theta controller in swerve examples (#2651)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2020-08-24 22:28:20 -04:00
committed by GitHub
parent 807de9a0a9
commit ee6a814576
2 changed files with 14 additions and 8 deletions
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12
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
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@@ -64,16 +64,20 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
// Pass the config
config);
frc::ProfiledPIDController<units::radians> thetaController{
AutoConstants::kPThetaController, 0, 0,
AutoConstants::kThetaControllerConstraints};
thetaController.EnableContinuousInput(units::radian_t(-wpi::math::pi),
units::radian_t(wpi::math::pi));
frc2::SwerveControllerCommand<4> swerveControllerCommand(
exampleTrajectory, [this]() { return m_drive.GetPose(); },
m_drive.kDriveKinematics,
frc2::PIDController(AutoConstants::kPXController, 0, 0),
frc2::PIDController(AutoConstants::kPYController, 0, 0),
frc::ProfiledPIDController<units::radians>(
AutoConstants::kPThetaController, 0, 0,
AutoConstants::kThetaControllerConstraints),
frc2::PIDController(AutoConstants::kPYController, 0, 0), thetaController,
[this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },