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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
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
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@@ -260,8 +260,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
xSpeed = MathUtil.copySignPow(xSpeed, 2);
zRotation = MathUtil.copySignPow(zRotation, 2);
xSpeed = MathUtil.copyDirectionPow(xSpeed, 2);
zRotation = MathUtil.copyDirectionPow(zRotation, 2);
}
double leftSpeed = xSpeed - zRotation;
@@ -335,8 +335,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
leftSpeed = MathUtil.copySignPow(leftSpeed, 2);
rightSpeed = MathUtil.copySignPow(rightSpeed, 2);
leftSpeed = MathUtil.copyDirectionPow(leftSpeed, 2);
rightSpeed = MathUtil.copyDirectionPow(rightSpeed, 2);
}
return new WheelSpeeds(leftSpeed, rightSpeed);