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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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3
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/cpp/Drivetrain.cpp
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@@ -4,7 +4,8 @@
#include "Drivetrain.hpp"
void Drivetrain::SetSpeeds(const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
void Drivetrain::SetSpeeds(
const wpi::math::DifferentialDriveWheelSpeeds& speeds) {
const auto leftFeedforward = m_feedforward.Calculate(speeds.left);
const auto rightFeedforward = m_feedforward.Calculate(speeds.right);
const double leftOutput = m_leftPIDController.Calculate(

3
wpilibcExamples/src/main/cpp/examples/DifferentialDriveBot/include/Drivetrain.hpp
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@@ -80,5 +80,6 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{1_V, 3_V / 1_mps};
wpi::math::SimpleMotorFeedforward<wpi::units::meters> m_feedforward{
1_V, 3_V / 1_mps};
};