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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-10-11 23:54:41 -07:00
parent b37e2d9343 9e85f3cf55
commit 7a2a982e66
14 changed files with 546 additions and 125 deletions
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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -112,8 +112,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::ArcadeDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
xSpeed = CopySignPow(xSpeed, 2);
zRotation = CopySignPow(zRotation, 2);
xSpeed = CopyDirectionPow(xSpeed, 2);
zRotation = CopyDirectionPow(zRotation, 2);
}
double leftSpeed = xSpeed - zRotation;
@@ -167,8 +167,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::TankDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
leftSpeed = CopySignPow(leftSpeed, 2);
rightSpeed = CopySignPow(rightSpeed, 2);
leftSpeed = CopyDirectionPow(leftSpeed, 2);
rightSpeed = CopyDirectionPow(rightSpeed, 2);
}
return {leftSpeed, rightSpeed};