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[wpilib] Improve curvature drive documentation (NFC) (#3783)

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Tyler Veness
2021-12-12 17:59:04 -08:00
committed by GitHub
parent 8b5bf8632e
commit 8d9836ca02
2 changed files with 12 additions and 12 deletions
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14
wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h
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@@ -142,10 +142,11 @@ class DifferentialDrive : public RobotDriveBase,
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
* @param zRotation The robot's rotation rate around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
* positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
* turn-in-place maneuvers.
* turn-in-place maneuvers. zRotation will control
* turning rate instead of curvature.
*/
void CurvatureDrive(double xSpeed, double zRotation, bool allowTurnInPlace);
@@ -184,10 +185,11 @@ class DifferentialDrive : public RobotDriveBase,
*
* @param xSpeed The robot's speed along the X axis [-1.0..1.0].
* Forward is positive.
* @param zRotation The robot's rotation rate around the Z axis
* [-1.0..1.0]. Clockwise is positive.
* @param zRotation The normalized curvature [-1.0..1.0]. Clockwise is
* positive.
* @param allowTurnInPlace If set, overrides constant-curvature turning for
* turn-in-place maneuvers.
* turn-in-place maneuvers. zRotation will control
* turning rate instead of curvature.
*/
static WheelSpeeds CurvatureDriveIK(double xSpeed, double zRotation,
bool allowTurnInPlace);