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[wpilib] Remove comment about Mecanum right side inverted (NFC) (#3929)

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This commit is contained in:
sciencewhiz
2022-01-18 01:00:55 -08:00
committed by GitHub
parent 0b990bf0f5
commit 8c55844f91
2 changed files with 2 additions and 9 deletions
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6
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
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@@ -44,8 +44,7 @@ class SpeedController;
* </pre>
*
* Each Drive() function provides different inverse kinematic relations for a
* Mecanum drive robot. Motor outputs for the right side are negated, so motor
* direction inversion by the user is usually unnecessary.
* Mecanum drive robot.
*
* This library uses the NED axes convention (North-East-Down as external
* reference in the world frame):
@@ -60,9 +59,6 @@ class SpeedController;
* with SetDeadband().
*
* RobotDrive porting guide:
* <br>In MecanumDrive, the right side motor controllers are automatically
* inverted, while in RobotDrive, no motor controllers are automatically
* inverted.
* <br>DriveCartesian(double, double, double, double) is equivalent to
* RobotDrive's MecanumDrive_Cartesian(double, double, double, double)
* if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
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@@ -34,8 +34,7 @@ import edu.wpi.first.wpilibj.SpeedController;
* </pre>
*
* <p>Each drive() function provides different inverse kinematic relations for a Mecanum drive
* robot. Motor outputs for the right side are negated, so motor direction inversion by the user is
* usually unnecessary.
* robot.
*
* <p>This library uses the NED axes convention (North-East-Down as external reference in the world
* frame): http://www.nuclearprojects.com/ins/images/axis_big.png.
@@ -49,8 +48,6 @@ import edu.wpi.first.wpilibj.SpeedController;
* value can be changed with {@link #setDeadband}.
*
* <p>RobotDrive porting guide: <br>
* In MecanumDrive, the right side motor controllers are automatically inverted, while in
* RobotDrive, no motor controllers are automatically inverted. <br>
* {@link #driveCartesian(double, double, double, double)} is equivalent to RobotDrive's
* mecanumDrive_Cartesian(double, double, double, double) if a deadband of 0 is used, and the ySpeed
* and gyroAngle values are inverted compared to RobotDrive (eg driveCartesian(xSpeed, -ySpeed,