Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix units of RamseteController's b and zeta (#3757)

Browse Source 
Fixes #3755.
This commit is contained in:
Tyler Veness
2021-12-03 18:21:30 -08:00
committed by GitHub
parent 5da54888f8
commit 04957a6d30
6 changed files with 62 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
View File

@@ -46,10 +46,10 @@ public class RamseteController {
/**
* Construct a Ramsete unicycle controller.
*
* @param b Tuning parameter (b > 0) for which larger values make convergence more aggressive
* like a proportional term.
* @param zeta Tuning parameter (0 < zeta < 1) for which larger values provide more damping
* in response.
* @param b Tuning parameter (b > 0 rad²/m²) for which larger values make convergence more
* aggressive like a proportional term.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger values provide
* more damping in response.
*/
@SuppressWarnings("ParameterName")
public RamseteController(double b, double zeta) {
@@ -58,8 +58,8 @@ public class RamseteController {
}
/**
* Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 and 0.7
* have been well-tested to produce desirable results.
* Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad²/m²
* and 0.7 rad⁻¹ have been well-tested to produce desirable results.
*/
public RamseteController() {
this(2.0, 0.7);