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https://github.com/wpilibsuite/allwpilib
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c165dc5e50
The field image and robot image can be loaded or just a wireframe used. The robot can be moved and rotated with a mouse click + drag. The robot position is settable in robot code via the Field2d class.
50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/simulation/Field2d.h"
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using namespace frc;
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Field2d::Field2d() : m_device{"Field2D"} {
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if (m_device) {
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m_x = m_device.CreateDouble("x", false, 0.0);
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m_y = m_device.CreateDouble("y", false, 0.0);
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m_rot = m_device.CreateDouble("rot", false, 0.0);
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}
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}
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void Field2d::SetRobotPose(const Pose2d& pose) {
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if (m_device) {
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auto& translation = pose.Translation();
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m_x.Set(translation.X().to<double>());
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m_y.Set(translation.Y().to<double>());
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m_rot.Set(pose.Rotation().Degrees().to<double>());
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} else {
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m_pose = pose;
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}
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}
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void Field2d::SetRobotPose(units::meter_t x, units::meter_t y,
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Rotation2d rotation) {
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if (m_device) {
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m_x.Set(x.to<double>());
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m_y.Set(y.to<double>());
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m_rot.Set(rotation.Degrees().to<double>());
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} else {
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m_pose = Pose2d{x, y, rotation};
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}
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}
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Pose2d Field2d::GetRobotPose() {
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if (m_device) {
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return Pose2d{units::meter_t{m_x.Get()}, units::meter_t{m_y.Get()},
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Rotation2d{units::degree_t{m_rot.Get()}}};
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} else {
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return m_pose;
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}
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}
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