Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Spelling and grammar cleanups (#4849)

Browse Source
This commit is contained in:
Sriman Achanta
2022-12-26 14:32:13 -05:00
committed by GitHub
parent 176fddeb4c
commit 92149efa11
110 changed files with 317 additions and 319 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
View File

@@ -16,8 +16,8 @@ import org.ejml.simple.SimpleMatrix;
*
* <p>The inverse kinematics (converting from a desired chassis velocity to individual wheel speeds)
* uses the relative locations of the wheels with respect to the center of rotation. The center of
* rotation for inverse kinematics is also variable. This means that you can set your set your
* center of rotation in a corner of the robot to perform special evasion maneuvers.
* rotation for inverse kinematics is also variable. This means that you can set your center of
* rotation in a corner of the robot to perform special evasion maneuvers.
*
* <p>Forward kinematics (converting an array of wheel speeds into the overall chassis motion) is
* performs the exact opposite of what inverse kinematics does. Since this is an overdetermined

11
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
View File

@@ -19,8 +19,8 @@ import org.ejml.simple.SimpleMatrix;
*
* <p>The inverse kinematics (converting from a desired chassis velocity to individual module
* states) uses the relative locations of the modules with respect to the center of rotation. The
* center of rotation for inverse kinematics is also variable. This means that you can set your set
* your center of rotation in a corner of the robot to perform special evasion maneuvers.
* center of rotation for inverse kinematics is also variable. This means that you can set your
* center of rotation in a corner of the robot to perform special evasion maneuvers.
*
* <p>Forward kinematics (converting an array of module states into the overall chassis motion) is
* performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
@@ -44,9 +44,10 @@ public class SwerveDriveKinematics {
/**
* Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations
* as Translation2ds. The order in which you pass in the wheel locations is the same order that
* you will receive the module states when performing inverse kinematics. It is also expected that
* you pass in the module states in the same order when calling the forward kinematics methods.
* as Translation2d objects. The order in which you pass in the wheel locations is the same order
* that you will receive the module states when performing inverse kinematics. It is also expected
* that you pass in the module states in the same order when calling the forward kinematics
* methods.
*
* @param wheelsMeters The locations of the wheels relative to the physical center of the robot.
*/