Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

7
wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
View File

@@ -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;