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Fix C++ ArmFeedforward (#2120)

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This commit is contained in:
Peter Johnson
2019-11-22 06:31:32 -08:00
committed by GitHub
parent 21e957ee42
commit 39be812b2e
1 changed files with 6 additions and 4 deletions
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10
wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
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@@ -74,7 +74,7 @@ class ArmFeedforward {
* @return The maximum possible velocity at the given acceleration and angle.
*/
units::unit_t<Velocity> MaxAchievableVelocity(
units::volt_t maxVoltage, Angle angle,
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume max velocity is positive
return (maxVoltage - kS - kCos * units::math::cos(angle) -
@@ -95,7 +95,7 @@ class ArmFeedforward {
* @return The minimum possible velocity at the given acceleration and angle.
*/
units::unit_t<Velocity> MinAchievableVelocity(
units::volt_t maxVoltage, Angle angle,
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Acceleration> acceleration) {
// Assume min velocity is negative, ks flips sign
return (-maxVoltage + kS - kCos * units::math::cos(angle) -
@@ -116,7 +116,8 @@ class ArmFeedforward {
* @return The maximum possible acceleration at the given velocity and angle.
*/
units::unit_t<Acceleration> MaxAchievableAcceleration(
units::volt_t maxVoltage, Angle angle, units::unit_t<Velocity> velocity) {
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Velocity> velocity) {
return (maxVoltage - kS * wpi::sgn(velocity) -
kCos * units::math::cos(angle) - kV * velocity) /
kA;
@@ -135,7 +136,8 @@ class ArmFeedforward {
* @return The minimum possible acceleration at the given velocity and angle.
*/
units::unit_t<Acceleration> MinAchievableAcceleration(
units::volt_t maxVoltage, Angle angle, units::unit_t<Velocity> velocity) {
units::volt_t maxVoltage, units::unit_t<Angle> angle,
units::unit_t<Velocity> velocity) {
return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
}