Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

5
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
View File

@@ -35,8 +35,9 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
/**
* Constructs a linear time-varying differential drive controller.
*
* @param plant The drivetrain velocity plant.
* @param trackwidth The drivetrain's trackwidth.
* @param plant The differential drive velocity plant.
* @param trackwidth The distance between the differential drive's left and
* right wheels.
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.

23
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
View File

@@ -183,11 +183,13 @@ class WPILIB_DLLEXPORT LinearSystemId {
}
/**
* Constructs the state-space model for a 2 DOF drivetrain velocity system
* from system identification data.
* 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.
*
* States: [[left velocity], [right velocity]]
* Inputs: [[left voltage], [right voltage]]
* States: [[left velocity], [right velocity]]<br>
* Inputs: [[left voltage], [right voltage]]<br>
* Outputs: [[left velocity], [right velocity]]
*
* @param kVlinear The linear velocity gain in volts per (meter per second).
@@ -231,11 +233,13 @@ class WPILIB_DLLEXPORT LinearSystemId {
}
/**
* Constructs the state-space model for a 2 DOF drivetrain velocity system
* from system identification data.
* 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.
*
* States: [[left velocity], [right velocity]]
* Inputs: [[left voltage], [right voltage]]
* States: [[left velocity], [right velocity]]<br>
* Inputs: [[left voltage], [right voltage]]<br>
* Outputs: [[left velocity], [right velocity]]
*
* @param kVlinear The linear velocity gain in volts per (meter per second).
@@ -245,7 +249,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* second).
* @param kAangular The angular acceleration gain in volts per (radian per
* second squared).
* @param trackwidth The width of the drivetrain.
* @param trackwidth The distance between the differential drive's left and
* right wheels.
* @throws domain_error if kVlinear <= 0, kAlinear <= 0, kVangular <= 0,
* kAangular <= 0, or trackwidth <= 0.
*/