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wpilibj: Fix SwerveDriveKinematics ctor parameter name (#1889)

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This commit is contained in:
Prateek Machiraju
2019-09-15 15:53:21 -04:00
committed by Peter Johnson
parent 471f375a38
commit 2dfbb855d7
1 changed files with 6 additions and 6 deletions
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12
wpilibj/src/main/java/edu/wpi/first/wpilibj/kinematics/SwerveDriveKinematics.java
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@@ -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++) {