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[wpimath] Fix coordinate frame docs in HolonomicDriveController (#7938)

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This commit is contained in:
Nolan Barker
2025-04-28 19:27:38 -04:00
committed by GitHub
parent 659710a79a
commit 40ce42712f
2 changed files with 7 additions and 7 deletions
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8
wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
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@@ -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.
*
* <p>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
* <p>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.
*/

6
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
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@@ -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.