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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.