From aacf9442e4c9b642a7e0d897cba7262c757c77f5 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 22 Nov 2021 21:14:38 -0800
Subject: [PATCH] [wpimath] Fix units typo in LinearSystemId source comment
 (#3730)

---
 .../java/edu/wpi/first/math/system/plant/LinearSystemId.java    | 2 +-
 .../src/main/native/include/frc/system/plant/LinearSystemId.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index 2933e937f7..f65f9c9fba 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -324,7 +324,7 @@ public final class LinearSystemId {
     // omega = 2/trackwidth v
     //
     // So multiplying by 2/trackwidth converts the angular gains from V/(rad/s)
-    // to V/m/s).
+    // to V/(m/s).
     return identifyDrivetrainSystem(
         kVLinear, kALinear, kVAngular * 2.0 / trackwidth, kAAngular * 2.0 / trackwidth);
   }
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index c0f4506e0d..ef7c0a8bf5 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -283,7 +283,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
     // omega = 2/trackwidth v
     //
     // So multiplying by 2/trackwidth converts the angular gains from V/(rad/s)
-    // to V/m/s).
+    // to V/(m/s).
     return IdentifyDrivetrainSystem(kVlinear, kAlinear,
                                     kVangular * 2.0 / trackwidth * 1_rad,
                                     kAangular * 2.0 / trackwidth * 1_rad);