Implement more performant swerve kinematics and odometry #46
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MathNerd28
requested review from
mmarchetti,
BrandonDudek,
ptavolette and
err1482
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Is this based on WPILib swerve kinematics, or is it entirely new? |
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It's essentially a clone (see theirs), with some performance optimizations and better method names. Additionally, I combined the Odometry and PoseEstimator into one class, since they're typically used together anyway. |
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| minCosine *= minCosine * minCosine; // minCosine to the 3rd power | ||
| for (int i = 0; i < modules.length; i++) { | ||
| states[i].speedMetersPerSecond *= minCosine; |
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IIRC we originally added a correction like this to limit the speed of wheels that are facing the wrong way, until the motors align them a bit more with the direction of travel (though I don't recall the cubing). We'll need to do some testing as soon as we have a swerve chassis and shake all the issues out of this implementation before the build season.
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That's my plan for the new swerve chassis we just got
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