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Convert the unitless joystick inputs to actual physical units #5451

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merged 7 commits into from
Jul 18, 2023
Merged

Convert the unitless joystick inputs to actual physical units #5451

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f82208d
Convert the unitless joystick inputs to actual physical units
jasonli0616 Jul 17, 2023
b9a6dfa
Convert the unitless joystick inputs to actual physical units
jasonli0616 Jul 17, 2023
88518ef
Formatting fixes
github-actions[bot] Jul 17, 2023
8d2916d
Add comment from Java to C++ side
jasonli0616 Jul 17, 2023
92f5391
Formatting fixes
github-actions[bot] Jul 17, 2023
faa4707
Fix C++ variable error
jasonli0616 Jul 17, 2023
522fbc7
Formatting fixes
github-actions[bot] Jul 17, 2023
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10 changes: 7 additions & 3 deletions wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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}));
}
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11 changes: 8 additions & 3 deletions .../src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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.
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m_driverController.getLeftY() * DriveConstants.kMaxSpeedMetersPerSecond,
m_driverController.getLeftX() * DriveConstants.kMaxSpeedMetersPerSecond,
m_driverController.getRightX()
* ModuleConstants.kMaxModuleAngularSpeedRadiansPerSecond,
false),
m_robotDrive));
}
Expand Down