Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Remove encoder reset comments on Swerve, Mecanum Odometry and Pose Estimation (#4643)

Browse Source 
In both of these cases, encoder resets are not required for normal use.
This commit is contained in:
Jordan McMichael
2022-11-16 18:20:05 -05:00
committed by GitHub
parent e4b5795fc7
commit 2e5f9e45bb
5 changed files with 2 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
View File

@@ -197,8 +197,6 @@ public class MecanumDrivePoseEstimator {
/** /**
* Resets the robot's position on the field. * 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 * <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. * automatically takes care of offsetting the gyro angle.
* *

2
wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
View File

@@ -244,8 +244,6 @@ public class SwerveDrivePoseEstimator<States extends Num, Inputs extends Num, Ou
/** /**
* Resets the robot's position on the field. * 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 * <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. * automatically takes care of offsetting the gyro angle.
* *

2
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveOdometry.java
View File

@@ -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 * <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. * 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 pose The position on the field that your robot is at.
* @param gyroAngle The angle reported by the gyroscope. * @param gyroAngle The angle reported by the gyroscope.
* @param modulePositions The wheel positions reported by each module. * @param modulePositions The wheel positions reported by each module.

2
wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
View File

@@ -108,8 +108,6 @@ class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
/** /**
* Resets the robot's position on the field. * 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. * <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. * The library automatically takes care of offsetting the gyro angle.
* *

2
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
View File

@@ -138,8 +138,6 @@ class SwerveDrivePoseEstimator {
/** /**
* Resets the robot's position on the field. * 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 gyroscope angle does not need to be reset in the user's robot code.
* The library automatically takes care of offsetting the gyro angle. * The library automatically takes care of offsetting the gyro angle.
* *