From 40ce42712fb6b4f2ee8b5a6d6cc31fdd262eedec Mon Sep 17 00:00:00 2001 From: Nolan Barker <107814443+therekrab@users.noreply.github.com> Date: Mon, 28 Apr 2025 19:27:38 -0400 Subject: [PATCH] [wpimath] Fix coordinate frame docs in HolonomicDriveController (#7938) --- .../first/math/controller/HolonomicDriveController.java | 8 ++++---- .../include/frc/controller/HolonomicDriveController.h | 6 +++--- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java index a243a52d85..67ed73ed5a 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java +++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java @@ -13,11 +13,11 @@ import edu.wpi.first.math.util.Units; /** * This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain * (i.e. swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve - * compared to skid-steer style drivetrains because it is possible to individually control forward, - * sideways, and angular velocity. + * compared to skid-steer style drivetrains because it is possible to individually control + * field-relative x, y, and angular velocity. * - *

The holonomic drive controller takes in one PID controller for each direction, forward and - * sideways, and one profiled PID controller for the angular direction. Because the heading dynamics + *

The holonomic drive controller takes in one PID controller for each direction, field-relative + * x and y, and one profiled PID controller for the angular direction. Because the heading dynamics * are decoupled from translations, users can specify a custom heading that the drivetrain should * point toward. This heading reference is profiled for smoothness. */ diff --git a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h index a78fdd85c1..86e47b3244 100644 --- a/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h +++ b/wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h @@ -23,11 +23,11 @@ namespace frc { * This holonomic drive controller can be used to follow trajectories using a * holonomic drivetrain (i.e. swerve or mecanum). Holonomic trajectory following * is a much simpler problem to solve compared to skid-steer style drivetrains - * because it is possible to individually control forward, sideways, and angular - * velocity. + * because it is possible to individually control field-relative x, y, and + * angular velocity. * * The holonomic drive controller takes in one PID controller for each - * direction, forward and sideways, and one profiled PID controller for the + * direction, field-relative x and y, and one profiled PID controller for the * angular direction. Because the heading dynamics are decoupled from * translations, users can specify a custom heading that the drivetrain should * point toward. This heading reference is profiled for smoothness.