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[wpimath] Use units for LinearSystemId Kv and Ka (#2852)

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This commit is contained in:
Prateek Machiraju
2020-11-12 01:33:04 -05:00
committed by GitHub
parent f24f282442
commit ac3c336b98
6 changed files with 72 additions and 23 deletions
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6
wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java
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@@ -134,6 +134,9 @@ public final class LinearSystemId {
* Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2).
* These constants cam be found using frc-characterization.
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use
* the {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
*
* @param kV The velocity gain, in volts per (units per second)
* @param kA The acceleration gain, in volts per (units per second squared)
* @return A LinearSystem representing the given characterized constants.
@@ -153,6 +156,9 @@ public final class LinearSystemId {
* Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2).
* These constants cam be found using frc-characterization.
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use
* the {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
*
* @param kV The velocity gain, in volts per (units per second)
* @param kA The acceleration gain, in volts per (units per second squared)
* @return A LinearSystem representing the given characterized constants.