[examples] Convert the unitless joystick inputs to actual physical un…

…its (#5451) Taking the joystick inputs from -1 to 1, multiply them by the max speed (as defined in Constants.java) to get the target speed, rather than using the unitless raw joystick inputs.
wpilibsuite · Jul 18, 2023 · 9b8d90b · 9b8d90b
1 parent 1f6428a
commit 9b8d90b
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Showing 2 changed files with 15 additions and 6 deletions.
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -35,9 +35,13 @@ RobotContainer::RobotContainer() {
   m_drive.SetDefaultCommand(frc2::RunCommand(
       [this] {
         m_drive.Drive(
-            units::meters_per_second_t{m_driverController.GetLeftY()},
-            units::meters_per_second_t{m_driverController.GetLeftX()},
-            units::radians_per_second_t{m_driverController.GetRightX()}, false);
+            // Multiply by max speed to map the joystick unitless inputs to
+            // actual units. This will map the [-1, 1] to [max speed backwards,
+            // max speed forwards], converting them to actual units.
+            m_driverController.GetLeftY() * AutoConstants::kMaxSpeed,
+            m_driverController.GetLeftX() * AutoConstants::kMaxSpeed,
+            m_driverController.GetRightX() * AutoConstants::kMaxAngularSpeed,
+            false);
       },
       {&m_drive}));
 }

diff --git a/.../src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/.../src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.DriveConstants;
+import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.ModuleConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.swervecontrollercommand.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -48,9 +49,13 @@ public RobotContainer() {
         new RunCommand(
             () ->
                 m_robotDrive.drive(
-                    m_driverController.getLeftY(),
-                    m_driverController.getLeftX(),
-                    m_driverController.getRightX(),
+                    // Multiply by max speed to map the joystick unitless inputs to actual units.
+                    // This will map the [-1, 1] to [max speed backwards, max speed forwards],
+                    // converting them to actual units.
+                    m_driverController.getLeftY() * DriveConstants.kMaxSpeedMetersPerSecond,
+                    m_driverController.getLeftX() * DriveConstants.kMaxSpeedMetersPerSecond,
+                    m_driverController.getRightX()
+                        * ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
                     false),
             m_robotDrive));
   }