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[wpimath] Improve DifferentialDriveAccelerationLimiter docs (NFC) (#4323)

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Defined trackwidth, added skipped steps to the algorithm's internal
proof, and grouped the algorithm steps more logically with blank lines.
This commit is contained in:
Tyler Veness
2022-07-01 06:43:57 -07:00
committed by GitHub
parent 82fac41244
commit add00a96ed
3 changed files with 40 additions and 14 deletions
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3
wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h
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@@ -30,7 +30,8 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
* Constructs a DifferentialDriveAccelerationLimiter.
*
* @param system The differential drive dynamics.
* @param trackwidth The trackwidth.
* @param trackwidth The distance between the differential drive's left and
* right wheels.
* @param maxLinearAccel The maximum linear acceleration.
* @param maxAngularAccel The maximum angular acceleration.
*/