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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-29 18:22:39 -08:00
parent 3232630a38 eef1bf33de
commit a931a6554f
139 changed files with 39390 additions and 541 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
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@@ -39,8 +39,9 @@ public class LTVUnicycleController {
/**
* Constructs a linear time-varying unicycle controller with default maximum desired error
* tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
* 2 rad/s).
* tolerances of (x = 0.0625 m, y = 0.125 m, heading = 2 rad), default maximum desired control
* effort of (linear velocity = 1 m/s, angular velocity = 2 rad/s), and default maximum Velocity
* of 9 m/s.
*
* @param dt Discretization timestep in seconds.
*/
@@ -55,8 +56,11 @@ public class LTVUnicycleController {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
* for how to select the tolerances.
*
* @param qelems The maximum desired error tolerance for each state.
* @param relems The maximum desired control effort for each input.
* <p>The default maximum Velocity is 9 m/s.
*
* @param qelems The maximum desired error tolerance for each state (x, y, heading).
* @param relems The maximum desired control effort for each input (linear velocity, angular
* velocity).
* @param dt Discretization timestep in seconds.
*/
public LTVUnicycleController(Vector<N3> qelems, Vector<N2> relems, double dt) {