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

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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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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);