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[wpimath] TrapezoidProfile: Fix null pointer when calling timeLeftUntil (#7894)

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This commit is contained in:
me-it-is
2025-04-25 21:58:05 -07:00
committed by GitHub
parent 92010c175f
commit 3960045663
4 changed files with 26 additions and 9 deletions
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7
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
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@@ -43,7 +43,7 @@ public class TrapezoidProfile {
private int m_direction;
private final Constraints m_constraints;
private State m_current;
private State m_current = new State();
private double m_endAccel;
private double m_endFullSpeed;
@@ -187,7 +187,8 @@ public class TrapezoidProfile {
* Returns the time left until a target distance in the profile is reached.
*
* @param target The target distance.
* @return The time left until a target distance in the profile is reached.
* @return The time left until a target distance in the profile is reached, or zero if no goal was
* set.
*/
public double timeLeftUntil(double target) {
double position = m_current.position * m_direction;
@@ -253,7 +254,7 @@ public class TrapezoidProfile {
/**
* Returns the total time the profile takes to reach the goal.
*
* @return The total time the profile takes to reach the goal.
* @return The total time the profile takes to reach the goal, or zero if no goal was set.
*/
public double totalTime() {
return m_endDecel;