fixup aimandrange

PhotonVision · Oct 24, 2024 · 18a374d · 18a374d
1 parent be53a7f
commit 18a374d
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Showing 2 changed files with 14 additions and 6 deletions.
diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp
@@ -44,20 +44,20 @@ SwerveDriveSim::SwerveDriveSim(
     : SwerveDriveSim(
           frc::LinearSystem<2, 1, 2>{
               (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -driveFF.kV.to<double>() / driveFF.kA.to<double>())
+               -driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
                   .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.GetKa().to<double>()},
               (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
               Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
+          driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
           frc::LinearSystem<2, 1, 2>{
               (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -steerFF.kV.to<double>() / steerFF.kA.to<double>())
+               -steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
                   .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.GetKa().to<double>()},
               (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
               Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          steerFF.kS, steerMotor, steerGearing, kinematics) {}
+          steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}
 
 SwerveDriveSim::SwerveDriveSim(
     const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,

diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
@@ -32,6 +32,10 @@
 #include <frc/geometry/Transform3d.h>
 #include <frc/geometry/Translation2d.h>
 #include <units/length.h>
+#include <units/angular_velocity.h>
+#include <units/acceleration.h>
+#include <units/velocity.h>
+#include <units/angular_acceleration.h>
 
 namespace constants {
 namespace Vision {
@@ -46,6 +50,7 @@ inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
 inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {
+using namespace units;
 
 inline constexpr units::meter_t kTrackWidth{18.5_in};
 inline constexpr units::meter_t kTrackLength{18.5_in};
@@ -73,6 +78,9 @@ inline constexpr double kSteerKP = 20.0;
 inline constexpr double kSteerKI = 0.0;
 inline constexpr double kSteerKD = 0.25;
 
+
+using namespace units;
+
 inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
     0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};