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Merge branch 'main' into 2027

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Peter Johnson
2025-05-29 21:41:50 -07:00
parent 25eacfa226 ca05ffa1b9
commit 6c16e846fa
347 changed files with 18562 additions and 11557 deletions
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8
wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
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@@ -13,11 +13,11 @@ import edu.wpi.first.math.util.Units;
/**
* This holonomic drive controller can be used to follow trajectories using a holonomic drivetrain
* (i.e. swerve or mecanum). Holonomic trajectory following is a much simpler problem to solve
* compared to skid-steer style drivetrains because it is possible to individually control forward,
* sideways, and angular velocity.
* compared to skid-steer style drivetrains because it is possible to individually control
* field-relative x, y, and angular velocity.
*
* <p>The holonomic drive controller takes in one PID controller for each direction, forward and
* sideways, and one profiled PID controller for the angular direction. Because the heading dynamics
* <p>The holonomic drive controller takes in one PID controller for each direction, field-relative
* x and y, and one profiled PID controller for the angular direction. Because the heading dynamics
* are decoupled from translations, users can specify a custom heading that the drivetrain should
* point toward. This heading reference is profiled for smoothness.
*/