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[hal, wpilib] Remove analog accumulator and analog gyro (#7697)

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The 2 high level classes were temporarily kept to keep the examples compiling. We will remove those when we have the interface into the built in IMU.
This commit is contained in:
Thad House
2025-01-17 12:58:31 -08:00
committed by GitHub
parent 92f0a3c961
commit f80874dd4b
76 changed files with 33 additions and 3886 deletions
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2
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -124,7 +124,7 @@ void Drivetrain::SimulationPeriodic() {
m_rightEncoderSim.SetDistance(
m_drivetrainSimulator.GetRightPosition().value());
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
// m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
}
void Drivetrain::Periodic() {

2
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -22,7 +22,6 @@
#include <frc/geometry/Transform3d.h>
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/AnalogGyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
#include <frc/simulation/EncoderSim.h>
#include <frc/smartdashboard/Field2d.h>
@@ -165,7 +164,6 @@ class Drivetrain {
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
// Simulation classes
frc::sim::AnalogGyroSim m_gyroSim{m_gyro};
frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
frc::Field2d m_fieldSim;

2
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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@@ -52,7 +52,7 @@ void Drivetrain::SimulationPeriodic() {
m_rightEncoderSim.SetDistance(
m_drivetrainSimulator.GetRightPosition().value());
m_rightEncoderSim.SetRate(m_drivetrainSimulator.GetRightVelocity().value());
m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
// m_gyroSim.SetAngle(-m_drivetrainSimulator.GetHeading().Degrees().value());
}
void Drivetrain::Periodic() {

2
wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/include/Drivetrain.h
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@@ -13,7 +13,6 @@
#include <frc/kinematics/DifferentialDriveKinematics.h>
#include <frc/kinematics/DifferentialDriveOdometry.h>
#include <frc/motorcontrol/PWMSparkMax.h>
#include <frc/simulation/AnalogGyroSim.h>
#include <frc/simulation/DifferentialDrivetrainSim.h>
#include <frc/simulation/EncoderSim.h>
#include <frc/smartdashboard/Field2d.h>
@@ -100,7 +99,6 @@ class Drivetrain {
frc::SimpleMotorFeedforward<units::meters> m_feedforward{1_V, 3_V / 1_mps};
// Simulation classes help us simulate our robot
frc::sim::AnalogGyroSim m_gyroSim{m_gyro};
frc::sim::EncoderSim m_leftEncoderSim{m_leftEncoder};
frc::sim::EncoderSim m_rightEncoderSim{m_rightEncoder};
frc::Field2d m_fieldSim;