Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.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. */
@@ -98,6 +98,10 @@ public class RobotContainer {
config
);
var thetaController = new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
AutoConstants.kThetaControllerConstraints);
thetaController.enableContinuousInput(-Math.PI, Math.PI);
SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
exampleTrajectory,
m_robotDrive::getPose, //Functional interface to feed supplier
@@ -105,9 +109,7 @@ public class RobotContainer {
//Position controllers
new PIDController(AutoConstants.kPXController, 0, 0),
new PIDController(AutoConstants.kPYController, 0, 0),
new ProfiledPIDController(AutoConstants.kPThetaController, 0, 0,
AutoConstants.kThetaControllerConstraints),
new PIDController(AutoConstants.kPYController, 0, 0), thetaController,
m_robotDrive::setModuleStates,