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[wpilib] MecanumDrive: update docs for axis to match implementation (NFC) (#3942)

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Added note that implementation may change in the future, #3930.
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sciencewhiz
2022-01-21 16:22:17 -08:00
committed by GitHub
parent 4ccfe1c9f2
commit 02a0ced9b0
2 changed files with 18 additions and 19 deletions
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17
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -46,14 +46,13 @@ class SpeedController;
* Each Drive() function provides different inverse kinematic relations for a
* Mecanum drive robot.
*
* This library uses the NED axes convention (North-East-Down as external
* reference in the world frame):
* http://www.nuclearprojects.com/ins/images/axis_big.png.
*
* The positive X axis points ahead, the positive Y axis points to the right,
* The positive Y axis points ahead, the positive X axis points to the right,
* and the positive Z axis points down. Rotations follow the right-hand rule, so
* clockwise rotation around the Z axis is positive.
*
* Note: the axis conventions used in this class differ from DifferentialDrive.
* This may change in a future year's WPILib release.
*
* Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
@@ -104,9 +103,9 @@ class MecanumDrive : public RobotDriveBase,
* Angles are measured clockwise from the positive X axis. The robot's speed
* is independent from its angle or rotation rate.
*
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is
* positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.
@@ -137,9 +136,9 @@ class MecanumDrive : public RobotDriveBase,
* Angles are measured clockwise from the positive X axis. The robot's speed
* is independent from its angle or rotation rate.
*
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is
* @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Forward is
* positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Right is
* positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0].
* Clockwise is positive.