From 14d8506b72b03033290c27a571e5400d486d70f4 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Mon, 14 Nov 2022 14:26:16 -0800 Subject: [PATCH] [wpimath] Fix units docs for LinearSystemId::IdentifyDrivetrainSystem() (#4600) --- .../edu/wpi/first/math/system/plant/LinearSystemId.java | 4 ++-- .../main/native/include/frc/system/plant/LinearSystemId.h | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java index 632c1cee0b..332e690522 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java +++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java @@ -283,8 +283,8 @@ public final class LinearSystemId { * * @param kVLinear The linear velocity gain in volts per (meters per second). * @param kALinear The linear acceleration gain in volts per (meters per second squared). - * @param kVAngular The angular velocity gain in volts per (radians per second). - * @param kAAngular The angular acceleration gain in volts per (radians per second squared). + * @param kVAngular The angular velocity gain in volts per (meters per second). + * @param kAAngular The angular acceleration gain in volts per (meters per second squared). * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, or * kAAngular <= 0. diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h index d33f40bcfe..3e69545272 100644 --- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h +++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h @@ -151,9 +151,9 @@ class WPILIB_DLLEXPORT LinearSystemId { * @param kVLinear The linear velocity gain in volts per (meters per second). * @param kALinear The linear acceleration gain in volts per (meters per * second squared). - * @param kVAngular The angular velocity gain in volts per (radians per - * second). - * @param kAAngular The angular acceleration gain in volts per (radians per + * @param kVAngular The angular velocity gain in volts per (meters per + * second). + * @param kAAngular The angular acceleration gain in volts per (meters per * second squared). * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, * or kAAngular <= 0.