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[wpimath] Rename 1D copySignPow to match 2D copyDirectionPow (#8286)

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This commit is contained in:
Michael Lesirge
2025-10-11 09:24:10 -07:00
committed by GitHub
parent 2b43541b94
commit 9e85f3cf55
6 changed files with 73 additions and 71 deletions
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8
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -115,8 +115,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::ArcadeDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
xSpeed = CopySignPow(xSpeed, 2);
zRotation = CopySignPow(zRotation, 2);
xSpeed = CopyDirectionPow(xSpeed, 2);
zRotation = CopyDirectionPow(zRotation, 2);
}
double leftSpeed = xSpeed - zRotation;
@@ -170,8 +170,8 @@ DifferentialDrive::WheelSpeeds DifferentialDrive::TankDriveIK(
// Square the inputs (while preserving the sign) to increase fine control
// while permitting full power.
if (squareInputs) {
leftSpeed = CopySignPow(leftSpeed, 2);
rightSpeed = CopySignPow(rightSpeed, 2);
leftSpeed = CopyDirectionPow(leftSpeed, 2);
rightSpeed = CopyDirectionPow(rightSpeed, 2);
}
return {leftSpeed, rightSpeed};