Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up math comments (#4252)

Browse Source
This commit is contained in:
Tyler Veness
2022-05-20 15:16:56 -07:00
committed by GitHub
parent fff4d1f44e
commit 5aa67f56e6
25 changed files with 141 additions and 132 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
View File

@@ -323,7 +323,7 @@ public class DifferentialDrivetrainSim {
var B = new Matrix<>(Nat.N4(), Nat.N2());
B.assignBlock(0, 0, m_plant.getB().times(this.m_currentGearing / this.m_originalGearing));
// Because G^2 can be factored out of A, we can divide by the old ratio squared and multiply
// Because G² can be factored out of A, we can divide by the old ratio squared and multiply
// by the new ratio squared to get a new drivetrain model.
var A = new Matrix<>(Nat.N4(), Nat.N4());
A.assignBlock(
@@ -455,7 +455,7 @@ public class DifferentialDrivetrainSim {
KitbotGearing gearing,
KitbotWheelSize wheelSize,
Matrix<N7, N1> measurementStdDevs) {
// MOI estimation -- note that I = m r^2 for point masses
// MOI estimation -- note that I = mr² for point masses
var batteryMoi = 12.5 / 2.2 * Math.pow(Units.inchesToMeters(10), 2);
var gearboxMoi =
(2.8 /* CIM motor */ * 2 / 2.2 + 2.0 /* Toughbox Mini- ish */)