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[wpilib] Added docs clarification on units for drive class WheelSpeeds (NFC) (#3939)

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This commit is contained in:
shueja-personal
2022-01-21 15:51:28 -08:00
committed by GitHub
parent 830c0c5c2f
commit 4ccfe1c9f2
6 changed files with 49 additions and 14 deletions
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8
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -101,6 +101,11 @@ class DifferentialDrive : public RobotDriveBase,
public wpi::Sendable,
public wpi::SendableHelper<DifferentialDrive> {
public:
/**
* Wheel speeds for a differential drive.
*
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
double left = 0.0;
double right = 0.0;
@@ -172,6 +177,7 @@ class DifferentialDrive : public RobotDriveBase,
* @param zRotation The rotation rate of the robot around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds ArcadeDriveIK(double xSpeed, double zRotation,
bool squareInputs = true);
@@ -190,6 +196,7 @@ class DifferentialDrive : public RobotDriveBase,
* @param allowTurnInPlace If set, overrides constant-curvature turning for
* turn-in-place maneuvers. zRotation will control
* turning rate instead of curvature.
* @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds CurvatureDriveIK(double xSpeed, double zRotation,
bool allowTurnInPlace);
@@ -202,6 +209,7 @@ class DifferentialDrive : public RobotDriveBase,
* @param rightSpeed The robot right side's speed along the X axis
* [-1.0..1.0]. Forward is positive.
* @param squareInputs If set, decreases the input sensitivity at low speeds.
* @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds TankDriveIK(double leftSpeed, double rightSpeed,
bool squareInputs = true);

6
wpilibc/src/main/native/include/frc/drive/KilloughDrive.h
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@@ -62,6 +62,11 @@ class KilloughDrive : public RobotDriveBase,
static constexpr double kDefaultRightMotorAngle = 120.0;
static constexpr double kDefaultBackMotorAngle = 270.0;
/**
* Wheel speeds for a Killough drive.
*
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
double left = 0.0;
double right = 0.0;
@@ -154,6 +159,7 @@ class KilloughDrive : public RobotDriveBase,
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
* @return Wheel speeds [-1.0..1.0].
*/
WheelSpeeds DriveCartesianIK(double ySpeed, double xSpeed, double zRotation,
double gyroAngle = 0.0);

6
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -72,6 +72,11 @@ class MecanumDrive : public RobotDriveBase,
public wpi::Sendable,
public wpi::SendableHelper<MecanumDrive> {
public:
/**
* Wheel speeds for a mecanum drive.
*
* Uses normalized voltage [-1.0..1.0].
*/
struct WheelSpeeds {
double frontLeft = 0.0;
double frontRight = 0.0;
@@ -140,6 +145,7 @@ class MecanumDrive : public RobotDriveBase,
* Clockwise is positive.
* @param gyroAngle The current angle reading from the gyro in degrees around
* the Z axis. Use this to implement field-oriented controls.
* @return Wheel speeds [-1.0..1.0].
*/
static WheelSpeeds DriveCartesianIK(double ySpeed, double xSpeed,
double zRotation, double gyroAngle = 0.0);