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Replace instances of frc-characterization with SysId (NFC) (#3681)

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Tyler Veness
2021-10-27 06:40:17 -07:00
committed by GitHub
parent b82d4f6e58
commit 8d04606c4d
3 changed files with 17 additions and 21 deletions
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32
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -133,8 +133,8 @@ public final class LinearSystemId {
/**
* Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
* constants cam be found using frc-characterization. The states of the system are [velocity],
* inputs are [voltage], and outputs are [velocity].
* constants cam be found using SysId. The states of the system are [velocity], inputs are
* [voltage], and outputs are [velocity].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.
@@ -142,8 +142,7 @@ public final class LinearSystemId {
* @param kV The velocity gain, in volts per (units per second)
* @param kA The acceleration gain, in volts per (units per second squared)
* @return A LinearSystem representing the given characterized constants.
* @see <a href="https://github.com/wpilibsuite/frc-characterization">
* https://github.com/wpilibsuite/frc-characterization</a>
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@SuppressWarnings("ParameterName")
public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
@@ -156,8 +155,8 @@ public final class LinearSystemId {
/**
* Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
* constants cam be found using frc-characterization. The states of the system are [position,
* velocity]ᵀ, inputs are [voltage], and outputs are [position].
* constants cam be found using SysId. The states of the system are [position, velocity]ᵀ, inputs
* are [voltage], and outputs are [position].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.
@@ -165,8 +164,7 @@ public final class LinearSystemId {
* @param kV The velocity gain, in volts per (units per second)
* @param kA The acceleration gain, in volts per (units per second squared)
* @return A LinearSystem representing the given characterized constants.
* @see <a href="https://github.com/wpilibsuite/frc-characterization">
* https://github.com/wpilibsuite/frc-characterization</a>
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@SuppressWarnings("ParameterName")
public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
@@ -180,17 +178,16 @@ 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/sec^2)) and angular (volts/(meter/sec) and
* volts/(meter/sec^2)) cases. This can be found using frc-characterization. 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.
* volts/(meter/sec^2)) 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.
*
* @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 (meter per second).
* @param kAAngular The angular acceleration gain, volts per (meter per second squared).
* @return A LinearSystem representing the given characterized constants.
* @see <a href="https://github.com/wpilibsuite/frc-characterization">
* https://github.com/wpilibsuite/frc-characterization</a>
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@SuppressWarnings("ParameterName")
public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
@@ -210,9 +207,9 @@ 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/sec^2)) and angular (volts/(radian/sec) and
* volts/(radian/sec^2)) cases. This can be found using frc-characterization. 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.
* volts/(radian/sec^2)) 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.
*
* @param kVLinear The linear velocity gain, volts per (meter per second).
* @param kALinear The linear acceleration gain, volts per (meter per second squared).
@@ -220,8 +217,7 @@ public final class LinearSystemId {
* @param kAAngular The angular acceleration gain, volts per (radians per second squared).
* @param trackwidth The width of the drivetrain in meters.
* @return A LinearSystem representing the given characterized constants.
* @see <a href="https://github.com/wpilibsuite/frc-characterization">
* https://github.com/wpilibsuite/frc-characterization</a>
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
@SuppressWarnings("ParameterName")
public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(