From 2dfbb855d75694124599dd7f00e38270dd49c68d Mon Sep 17 00:00:00 2001 From: Prateek Machiraju Date: Sun, 15 Sep 2019 15:53:21 -0400 Subject: [PATCH] wpilibj: Fix SwerveDriveKinematics ctor parameter name (#1889) --- .../wpilibj/kinematics/SwerveDriveKinematics.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java index f09c5cc1a8..03c6fd7fa9 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java @@ -53,15 +53,15 @@ public class SwerveDriveKinematics { * pass in the module states in the same order when calling the forward * kinematics methods. * - * @param wheelsMetersPerSecond The locations of the wheels relative to the physical center - * of the robot. + * @param wheelsMeters The locations of the wheels relative to the physical center + * of the robot. */ - public SwerveDriveKinematics(Translation2d... wheelsMetersPerSecond) { - if (wheelsMetersPerSecond.length < 2) { + public SwerveDriveKinematics(Translation2d... wheelsMeters) { + if (wheelsMeters.length < 2) { throw new IllegalArgumentException("A swerve drive requires at least two modules"); } - m_numModules = wheelsMetersPerSecond.length; - m_modules = Arrays.copyOf(wheelsMetersPerSecond, m_numModules); + m_numModules = wheelsMeters.length; + m_modules = Arrays.copyOf(wheelsMeters, m_numModules); m_inverseKinematics = new SimpleMatrix(m_numModules * 2, 3); for (int i = 0; i < m_numModules; i++) {