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[wpimath] ChassisSpeeds: document that values aren't relative to the robot (NFC) (#5551)

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Gold856
2023-08-30 16:22:42 -04:00
committed by GitHub
parent 3c04580a57
commit 4e0d785356
2 changed files with 8 additions and 10 deletions
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11
wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
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@@ -8,20 +8,19 @@ import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
/**
* Represents the speed of a robot chassis. Although this struct contains similar members compared
* to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose
* w.r.t to the robot frame of reference, this ChassisSpeeds struct represents a velocity w.r.t to
* the robot frame of reference.
* Represents the speed of a robot chassis. Although this class contains similar members compared to
* a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose
* w.r.t to the robot frame of reference, a ChassisSpeeds object represents a robot's velocity.
*
* <p>A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy
* component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum
* will often have all three components.
*/
public class ChassisSpeeds {
/** Represents forward velocity w.r.t the robot frame of reference. (Fwd is +) */
/** Velocity along the x-axis. (Fwd is +) */
public double vxMetersPerSecond;
/** Represents sideways velocity w.r.t the robot frame of reference. (Left is +) */
/** Velocity along the y-axis. (Left is +) */
public double vyMetersPerSecond;
/** Represents the angular velocity of the robot frame. (CCW is +) */

7
wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
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@@ -16,8 +16,7 @@ namespace frc {
* Represents the speed of a robot chassis. Although this struct contains
* similar members compared to a Twist2d, they do NOT represent the same thing.
* Whereas a Twist2d represents a change in pose w.r.t to the robot frame of
* reference, this ChassisSpeeds struct represents a velocity w.r.t to the robot
* frame of reference.
* reference, a ChassisSpeeds struct represents a robot's velocity.
*
* A strictly non-holonomic drivetrain, such as a differential drive, should
* never have a dy component because it can never move sideways. Holonomic
@@ -25,12 +24,12 @@ namespace frc {
*/
struct WPILIB_DLLEXPORT ChassisSpeeds {
/**
* Represents forward velocity w.r.t the robot frame of reference. (Fwd is +)
* Velocity along the x-axis. (Fwd is +)
*/
units::meters_per_second_t vx = 0_mps;
/**
* Represents strafe velocity w.r.t the robot frame of reference. (Left is +)
* Velocity along the y-axis. (Left is +)
*/
units::meters_per_second_t vy = 0_mps;