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[examples] Don't reset encoders when resetting odometry #6329

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Jan 31, 2024
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[examples] Don't reset encoders when resetting odometry #6329

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1 change: 0 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
}

void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}, pose);
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2 changes: 0 additions & 2 deletions wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
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Expand Up @@ -30,8 +30,6 @@ void Drivetrain::UpdateOdometry() {
}

void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
m_leftEncoder.Reset();
m_rightEncoder.Reset();
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
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1 change: 0 additions & 1 deletion ...main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
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Expand Up @@ -112,7 +112,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
}

void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
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1 change: 0 additions & 1 deletion ...rc/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
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Expand Up @@ -102,7 +102,6 @@ public DifferentialDriveWheelSpeeds getWheelSpeeds() {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
resetEncoders();
m_odometry.resetPosition(
m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);
}
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2 changes: 0 additions & 2 deletions ...ain/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
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Expand Up @@ -123,8 +123,6 @@ public void updateOdometry() {

/** Resets robot odometry. */
public void resetOdometry(Pose2d pose) {
m_leftEncoder.reset();
m_rightEncoder.reset();
m_drivetrainSimulator.setPose(pose);
m_odometry.resetPosition(
m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);
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1 change: 0 additions & 1 deletion ...rst/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
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Expand Up @@ -179,7 +179,6 @@ public DifferentialDriveWheelSpeeds getWheelSpeeds() {
* @param pose The pose to which to set the odometry.
*/
public void resetOdometry(Pose2d pose) {
resetEncoders();
m_drivetrainSimulator.setPose(pose);
m_odometry.resetPosition(
Rotation2d.fromDegrees(getHeading()),
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