Merge branch 'main' into 2027

wpimath/src/main/native/include/frc/controller/ArmFeedforward.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <cstdlib>
+
 #include <wpi/MathExtras.h>
 #include <wpi/SymbolExports.h>
 
@@ -242,6 +244,34 @@ class WPILIB_DLLEXPORT ArmFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *

wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h

@@ -216,6 +216,34 @@ class ElevatorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kG The gravity gain.
+   */
+  constexpr void SetKg(units::volt_t kG) { this->kG = kG; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *

wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h

@@ -178,6 +178,27 @@ class SimpleMotorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param kS The static gain.
+   */
+  constexpr void SetKs(units::volt_t kS) { this->kS = kS; }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kV The velocity gain.
+   */
+  constexpr void SetKv(units::unit_t<kv_unit> kV) { this->kV = kV; }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param kA The acceleration gain.
+   */
+  constexpr void SetKa(units::unit_t<ka_unit> kA) { this->kA = kA; }
+
   /**
    * Returns the static gain.
    *

wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h

@@ -59,7 +59,11 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * y-axis, and omega * dt around the z-axis).
    *
    * This is useful for compensating for translational skew when translating and
-   * rotating a swerve drivetrain.
+   * rotating a holonomic (swerve or mecanum) drivetrain. However, scaling down
+   * the ChassisSpeeds after discretizing (e.g., when desaturating swerve module
+   * speeds) rotates the direction of net motion in the opposite direction of
+   * rotational velocity, introducing a different translational skew which is
+   * not accounted for by discretization.
    *
    * @param dt The duration of the timestep the speeds should be applied for.
    * @return Discretized ChassisSpeeds.

wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h

@@ -333,6 +333,11 @@ class SwerveDriveKinematics
    * the absolute threshold, while maintaining the ratio of speeds between
    * modules.
    *
+   * Scaling down the module speeds rotates the direction of net motion in the
+   * opposite direction of rotational velocity, which makes discretizing the
+   * chassis speeds inaccurate because the discretization did not account for
+   * this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be
    * mutated with the normalized speeds!
    * @param attainableMaxSpeed The absolute max speed that a module can reach.
@@ -368,6 +373,11 @@ class SwerveDriveKinematics
    * the absolute threshold, while maintaining the ratio of speeds between
    * modules.
    *
+   * Scaling down the module speeds rotates the direction of net motion in the
+   * opposite direction of rotational velocity, which makes discretizing the
+   * chassis speeds inaccurate because the discretization did not account for
+   * this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be
    * mutated with the normalized speeds!
    * @param desiredChassisSpeed The desired speed of the robot