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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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wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h
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@@ -23,11 +23,11 @@ namespace frc {
* 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.
* because it is possible to individually control field-relative x, y, and
* angular velocity.
*
* The holonomic drive controller takes in one PID controller for each
* direction, forward and sideways, and one profiled PID controller for the
* 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.