From 2e5f9e45bb1f6ea1cecb1913dfffc33dd4fa192c Mon Sep 17 00:00:00 2001
From: Jordan McMichael <jlmcmchl@gmail.com>
Date: Wed, 16 Nov 2022 18:20:05 -0500
Subject: [PATCH] [wpimath] Remove encoder reset comments on Swerve, Mecanum
 Odometry and Pose Estimation (#4643)

In both of these cases, encoder resets are not required for normal use.
---
 .../edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java | 2 --
 .../edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java  | 2 --
 .../java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java | 2 ++
 .../native/include/frc/estimator/MecanumDrivePoseEstimator.h    | 2 --
 .../native/include/frc/estimator/SwerveDrivePoseEstimator.h     | 2 --
 5 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
index de2d31c7fe..af1448b9de 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
@@ -197,8 +197,6 @@ public class MecanumDrivePoseEstimator {
   /**
    * 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/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index caed869652..6e2b1350ba 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
@@ -244,8 +244,6 @@ public class SwerveDrivePoseEstimator<States extends Num, Inputs extends Num, Ou
   /**
    * 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/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java
index 73369f254d..de71fed63e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java
@@ -75,6 +75,8 @@ public class SwerveDriveOdometry {
    * <p>The gyroscope angle does not need to be reset here on the user's robot code. The library
    * automatically takes care of offsetting the gyro angle.
    *
+   * <p>Similarly, module positions do not need to be reset in user code.
+   *
    * @param pose The position on the field that your robot is at.
    * @param gyroAngle The angle reported by the gyroscope.
    * @param modulePositions The wheel positions reported by each module.
diff --git a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
index 1a072dcde7..84ad3b94e7 100644
--- a/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
@@ -108,8 +108,6 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
   /**
    * 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 2a0cbfa4bb..327ca0a779 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -138,8 +138,6 @@ 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.
    *