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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2025-02-20 00:26:23 -08:00
parent da47f06d70 0c3c2c1fda
commit 98f933eca5
123 changed files with 4634 additions and 2291 deletions
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6
wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
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@@ -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.

10
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -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