Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
View File

@@ -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.