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[wpimath] Better document trackwidth parameters (NFC) (#4324)

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Tyler Veness
2022-07-01 06:42:49 -07:00
committed by GitHub
parent 5eb44e22a9
commit 82fac41244
4 changed files with 36 additions and 24 deletions
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5
wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
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@@ -57,8 +57,9 @@ public class LTVDifferentialDriveController {
/**
* Constructs a linear time-varying differential drive controller.
*
* @param plant The drivetrain velocity plant.
* @param trackwidth The drivetrain's trackwidth in meters.
* @param plant The differential drive velocity plant.
* @param trackwidth The distance between the differential drive's left and right wheels in
* meters.
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* @param dt Discretization timestep in seconds.

27
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -271,11 +271,13 @@ public final class LinearSystemId {
}
/**
* Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
* linear (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(meter/sec) and
* volts/(meter/sec²)) cases. This can be found using SysId. The states of the system are [left
* velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
* velocity, right velocity]ᵀ.
* Identify a differential drive drivetrain given the drivetrain's kV and kA in both linear
* (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(radian/sec) and
* volts/(radian/sec²)) cases. This can be found using SysId.
*
* <p>States: [[left velocity], [right velocity]]<br>
* Inputs: [[left voltage], [right voltage]]<br>
* Outputs: [[left velocity], [right velocity]]
*
* @param kVLinear The linear velocity gain, volts per (meter per second).
* @param kALinear The linear acceleration gain, volts per (meter per second squared).
@@ -315,17 +317,20 @@ public final class LinearSystemId {
}
/**
* Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
* linear (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(radian/sec) and
* volts/(radian/sec²)) cases. This can be found using SysId. The states of the system are [left
* velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
* velocity, right velocity]ᵀ.
* Identify a differential drive drivetrain given the drivetrain's kV and kA in both linear
* (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(radian/sec) and
* volts/(radian/sec²)) cases. This can be found using SysId.
*
* <p>States: [[left velocity], [right velocity]]<br>
* Inputs: [[left voltage], [right voltage]]<br>
* Outputs: [[left velocity], [right velocity]]
*
* @param kVLinear The linear velocity gain, volts per (meter per second).
* @param kALinear The linear acceleration gain, volts per (meter per second squared).
* @param kVAngular The angular velocity gain, volts per (radians per second).
* @param kAAngular The angular acceleration gain, volts per (radians per second squared).
* @param trackwidth The width of the drivetrain in meters.
* @param trackwidth The distance between the differential drive's left and right wheels in
* meters.
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kVLinear &lt;= 0, kALinear &lt;= 0, kVAngular &lt;= 0,
* kAAngular &lt;= 0, or trackwidth &lt;= 0.