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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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20
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
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@@ -36,13 +36,13 @@ import edu.wpi.first.wpilibj.SpeedController;
* <p>Each drive() function provides different inverse kinematic relations for a Mecanum drive
* robot.
*
* <p>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.
*
* <p>The positive X axis points ahead, the positive Y axis points right, and the positive Z axis
* <p>The positive Y axis points ahead, the positive X axis points right, and the positive Z axis
* points down. Rotations follow the right-hand rule, so clockwise rotation around the Z axis is
* positive.
*
* <p>Note: the axis conventions used in this class differ from DifferentialDrive. This may change
* in a future year's WPILib release.
*
* <p>Inputs smaller then {@value edu.wpi.first.wpilibj.drive.RobotDriveBase#kDefaultDeadband} 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 {@link #setDeadband}.
@@ -140,8 +140,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* <p>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 positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @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]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
*/
@@ -156,8 +156,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* <p>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 positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @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]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this
@@ -215,8 +215,8 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
* <p>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 positive.
* @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is positive.
* @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]. Right is positive.
* @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. Clockwise is
* positive.
* @param gyroAngle The current angle reading from the gyro in degrees around the Z axis. Use this