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[wpimath] Fix LinearSystemId return type and docs (#7675)

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Fixes #7674.
This commit is contained in:
Tyler Veness
2025-01-13 11:22:53 -08:00
committed by GitHub
parent c5f7a2b4ac
commit 007526089e
2 changed files with 24 additions and 22 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -20,7 +20,7 @@ public final class LinearSystemId {
/**
* Create a state-space model of an elevator system. The states of the system are [position,
* velocity]ᵀ, inputs are [voltage], and outputs are [position].
* velocity]ᵀ, inputs are [voltage], and outputs are [position, velocity]ᵀ.
*
* @param motor The motor (or gearbox) attached to the carriage.
* @param massKg The mass of the elevator carriage, in kilograms.
@@ -88,8 +88,8 @@ public final class LinearSystemId {
/**
* Create a state-space model of a DC motor system. The states of the system are [angular
* position, angular velocity], inputs are [voltage], and outputs are [angular position, angular
* velocity].
* position, angular velocity]ᵀ, inputs are [voltage], and outputs are [angular position, angular
* velocity]ᵀ.
*
* @param motor The motor (or gearbox) attached to system.
* @param JKgMetersSquared The moment of inertia J of the DC motor.
@@ -125,7 +125,7 @@ public final class LinearSystemId {
/**
* Create a state-space model of a DC motor system from its kV (volts/(unit/sec)) and kA
* (volts/(unit/sec²)). These constants can be found using SysId. the states of the system are
* [position, velocity], inputs are [voltage], and outputs are [position].
* [position, velocity]ᵀ, inputs are [voltage], and outputs are [position].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.
@@ -211,7 +211,7 @@ public final class LinearSystemId {
/**
* Create a state-space model of a single jointed arm system. The states of the system are [angle,
* angular velocity], inputs are [voltage], and outputs are [angle].
* angular velocity]ᵀ, inputs are [voltage], and outputs are [angle, angular velocity]ᵀ.
*
* @param motor The motor (or gearbox) attached to the arm.
* @param JKgSquaredMeters The moment of inertia J of the arm.
@@ -279,7 +279,7 @@ public final class LinearSystemId {
/**
* Create a state-space model for a 1 DOF position system from its kV (volts/(unit/sec)) and kA
* (volts/(unit/sec²). These constants cam be found using SysId. The states of the system are
* [position, velocity]ᵀ, inputs are [voltage], and outputs are [position].
* [position, velocity]ᵀ, inputs are [voltage], and outputs are [position, velocity]ᵀ.
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.