From 2668130e701ca9dace4ea8ed541d8db25e81a459 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 28 Feb 2022 17:40:25 -0800
Subject: [PATCH] [wpimath] Remove SwerveDrivePoseEstimator encoder reset
 warning (#4066)

SwerveDrivePoseEstimator uses velocities, so position resets aren't
needed.

Closes #4065.
---
 .../edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java  | 2 --
 .../native/include/frc/estimator/SwerveDrivePoseEstimator.h     | 2 --
 2 files changed, 4 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 8782b7bdc2..66b0075687 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -173,8 +173,6 @@ public class SwerveDrivePoseEstimator {
   /**
    * Resets the robot's position on the field.
    *
-   * <p>You NEED to reset your encoders (to zero) when calling this method.
-   *
    * <p>The gyroscope angle does not need to be reset in the user's robot code. The library
    * automatically takes care of offsetting the gyro angle.
    *
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 7422a3c911..60cfcb1445 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -119,8 +119,6 @@ class SwerveDrivePoseEstimator {
   /**
    * Resets the robot's position on the field.
    *
-   * You NEED to reset your encoders (to zero) when calling this method.
-   *
    * The gyroscope angle does not need to be reset in the user's robot code.
    * The library automatically takes care of offsetting the gyro angle.
    *