From b0829356fa7841f2295bb5f5a4377700fc44ecc7 Mon Sep 17 00:00:00 2001 From: Jade Date: Mon, 1 Sep 2025 23:11:39 +0800 Subject: [PATCH] [wpimath] Fix sysid links (NFC) (#8204) Signed-off-by: Jade Turner --- .../first/math/system/plant/LinearSystemId.java | 15 ++++++++++----- .../include/frc/system/plant/LinearSystemId.h | 10 +++++----- 2 files changed, 15 insertions(+), 10 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 ce1129b059..bc64c5c73c 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 @@ -138,7 +138,8 @@ public final class LinearSystemId { * @param kA The acceleration gain, in volts/(unit/sec²) * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kV < 0 or kA <= 0. - * @see https://github.com/wpilibsuite/sysid + * @see https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ public static LinearSystem createDCMotorSystem(double kV, double kA) { if (kV < 0.0) { @@ -259,7 +260,8 @@ public final class LinearSystemId { * @param kA The acceleration gain, in volts/(unit/sec²) * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kV < 0 or kA <= 0. - * @see https://github.com/wpilibsuite/sysid + * @see https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ public static LinearSystem identifyVelocitySystem(double kV, double kA) { if (kV < 0.0) { @@ -292,7 +294,8 @@ public final class LinearSystemId { * @param kA The acceleration gain, in volts/(unit/sec²) * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kV < 0 or kA <= 0. - * @see https://github.com/wpilibsuite/sysid + * @see https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ public static LinearSystem identifyPositionSystem(double kV, double kA) { if (kV < 0.0) { @@ -325,7 +328,8 @@ public final class LinearSystemId { * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, or * kAAngular <= 0. - * @see https://github.com/wpilibsuite/sysid + * @see https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ public static LinearSystem identifyDrivetrainSystem( double kVLinear, double kALinear, double kVAngular, double kAAngular) { @@ -372,7 +376,8 @@ public final class LinearSystemId { * @return A LinearSystem representing the given characterized constants. * @throws IllegalArgumentException if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, * kAAngular <= 0, or trackwidth <= 0. - * @see https://github.com/wpilibsuite/sysid + * @see https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ public static LinearSystem identifyDrivetrainSystem( double kVLinear, double kALinear, double kVAngular, double kAAngular, double 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 f26c8a0376..49ed38bbfb 100644 --- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h +++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h @@ -122,7 +122,7 @@ class WPILIB_DLLEXPORT LinearSystemId { * @param kA The acceleration gain, in volts/(unit/sec²). * @throws std::domain_error if kV < 0 or kA <= 0. * @see https://github.com/wpilibsuite/sysid + * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ template requires std::same_as || @@ -165,7 +165,7 @@ class WPILIB_DLLEXPORT LinearSystemId { * * @throws std::domain_error if kV < 0 or kA <= 0. * @see https://github.com/wpilibsuite/sysid + * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ template requires std::same_as || @@ -208,7 +208,7 @@ class WPILIB_DLLEXPORT LinearSystemId { * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, * or kAAngular <= 0. * @see https://github.com/wpilibsuite/sysid + * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ static constexpr LinearSystem<2, 2, 2> IdentifyDrivetrainSystem( decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear, @@ -269,7 +269,7 @@ class WPILIB_DLLEXPORT LinearSystemId { * @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0, * kAAngular <= 0, or trackwidth <= 0. * @see https://github.com/wpilibsuite/sysid + * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ static constexpr LinearSystem<2, 2, 2> IdentifyDrivetrainSystem( decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear, @@ -346,7 +346,7 @@ class WPILIB_DLLEXPORT LinearSystemId { * @param gearing Gear ratio from motor to output. * @throws std::domain_error if J <= 0 or gearing <= 0. * @see https://github.com/wpilibsuite/sysid + * href="https://github.com/wpilibsuite/allwpilib/tree/main/sysid">https://github.com/wpilibsuite/allwpilib/tree/main/sysid */ static constexpr LinearSystem<2, 1, 2> DCMotorSystem( DCMotor motor, units::kilogram_square_meter_t J, double gearing) {