[examples] Make swerve examples multiply desired module speeds by cosine of heading error #5758
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ori-coval
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calcmogul
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Oct 12, 2023
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Add a comment describing what this does/why this is here. Also, don't forget to do this change for the C++ examples as well. Here's what the C++ code should roughly look like (haven't compiled it).
state.speed *= (state.angle - Rotation2d{m_turningEncoder.GetDistance()}).Cos();You could even reuse the encoder Rotation2d object since it's needed by the step before this. That would make this line of code easier to read too.
For the record, the order of subtraction doesn't matter since cosine is symmetric for positive and negative inputs. I just prefer writing error as desired - actual.
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
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calcmogul
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wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
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calcmogul
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wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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calcmogul
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Oct 13, 2023
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
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calcmogul
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Oct 13, 2023
PeterJohnson
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Completes issue #5749.