Fix typos with cspell (#6972)

wpimath/src/main/native/include/frc/controller/DifferentialDriveAccelerationLimiter.h

@@ -59,7 +59,7 @@ class WPILIB_DLLEXPORT DifferentialDriveAccelerationLimiter {
       units::radians_per_second_squared_t maxAngularAccel);
 
   /**
-   * Returns the next voltage pair subject to acceleraiton constraints.
+   * Returns the next voltage pair subject to acceleration constraints.
    *
    * @param leftVelocity The left wheel velocity.
    * @param rightVelocity The right wheel velocity.

wpimath/src/main/native/include/frc/estimator/KalmanFilterLatencyCompensator.h

@@ -59,7 +59,7 @@ class KalmanFilterLatencyCompensator {
    * @param observer  The observer.
    * @param u         The input at the timestamp.
    * @param localY    The local output at the timestamp
-   * @param timestamp The timesnap of the state.
+   * @param timestamp The timestamp of the state.
    */
   void AddObserverState(const KalmanFilterType& observer, Vectord<Inputs> u,
                         Vectord<Outputs> localY, units::second_t timestamp) {

wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h

@@ -18,7 +18,7 @@ namespace frc {
  * version seen in most publications. Unless you know better, this should be
  * your default choice.
  *
- * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic
+ * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic
  *     Inference in Dynamic State-Space Models" (Doctoral dissertation)
  *
  * @tparam States The dimensionality of the state. 2 * States + 1 weights will

wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h

@@ -48,7 +48,7 @@ class SteadyStateKalmanFilter {
   using OutputArray = wpi::array<double, Outputs>;
 
   /**
-   * Constructs a staeady-state Kalman filter with the given plant.
+   * Constructs a steady-state Kalman filter with the given plant.
    *
    * See
    * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices

wpimath/src/main/native/include/frc/estimator/UnscentedTransform.h

@@ -30,7 +30,7 @@ namespace frc {
  *                     vectors using a given set of weights.
  * @param residualFunc A function that computes the residual of two state
  *                     vectors (i.e. it subtracts them.)
- * @param squareRootR  Square-root of the noise covaraince of the sigma points.
+ * @param squareRootR  Square-root of the noise covariance of the sigma points.
  *
  * @return Tuple of x, mean of sigma points; S, square-root covariance of
  * sigmas.

wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h

@@ -50,7 +50,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   }
 
   /**
-   * Disretizes a continuous-time chassis speed.
+   * Discretizes a continuous-time chassis speed.
    *
    * This function converts a continuous-time chassis speed into a discrete-time
    * one such that when the discrete-time chassis speed is applied for one
@@ -85,7 +85,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
   }
 
   /**
-   * Disretizes a continuous-time chassis speed.
+   * Discretizes a continuous-time chassis speed.
    *
    * This function converts a continuous-time chassis speed into a discrete-time
    * one such that when the discrete-time chassis speed is applied for one

wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h

@@ -103,7 +103,7 @@ class ExponentialProfile {
     /**
      * Computes the max achievable velocity for an Exponential Profile.
      *
-     * @return The seady-state velocity achieved by this profile.
+     * @return The steady-state velocity achieved by this profile.
      */
     Velocity_t MaxVelocity() const { return -maxInput * B / A; }
 

wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h

@@ -132,7 +132,7 @@ class TrapezoidProfile {
    *
    * @return The total time the profile takes to reach the goal.
    */
-  units::second_t TotalTime() const { return m_endDeccel; }
+  units::second_t TotalTime() const { return m_endDecel; }
 
   /**
    * Returns true if the profile has reached the goal.
@@ -174,7 +174,7 @@ class TrapezoidProfile {
 
   units::second_t m_endAccel;
   units::second_t m_endFullSpeed;
-  units::second_t m_endDeccel;
+  units::second_t m_endDecel;
 };
 }  // namespace frc
 

wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc

@@ -58,7 +58,7 @@ TrapezoidProfile<Distance>::Calculate(units::second_t t, State current,
 
   m_endAccel = accelerationTime - cutoffBegin;
   m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
-  m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+  m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd;
   State result = m_current;
 
   if (t < m_endAccel) {
@@ -71,10 +71,10 @@ TrapezoidProfile<Distance>::Calculate(units::second_t t, State current,
                         m_endAccel * m_constraints.maxAcceleration / 2.0) *
                            m_endAccel +
                        m_constraints.maxVelocity * (t - m_endAccel);
-  } else if (t <= m_endDeccel) {
+  } else if (t <= m_endDecel) {
     result.velocity =
-        goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
-    units::second_t timeLeft = m_endDeccel - t;
+        goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration;
+    units::second_t timeLeft = m_endDecel - t;
     result.position =
         goal.position -
         (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) *
@@ -105,7 +105,7 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
   endFullSpeed = units::math::max(endFullSpeed, 0_s);
 
   const Acceleration_t acceleration = m_constraints.maxAcceleration;
-  const Acceleration_t decceleration = -m_constraints.maxAcceleration;
+  const Acceleration_t deceleration = -m_constraints.maxAcceleration;
 
   Distance_t distToTarget = units::math::abs(target - position);
 
@@ -116,26 +116,26 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
   Distance_t accelDist =
       velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;
 
-  Velocity_t deccelVelocity;
+  Velocity_t decelVelocity;
   if (endAccel > 0_s) {
-    deccelVelocity = units::math::sqrt(
+    decelVelocity = units::math::sqrt(
         units::math::abs(velocity * velocity + 2 * acceleration * accelDist));
   } else {
-    deccelVelocity = velocity;
+    decelVelocity = velocity;
   }
 
   Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
-  Distance_t deccelDist;
+  Distance_t decelDist;
 
   if (accelDist > distToTarget) {
     accelDist = distToTarget;
     fullSpeedDist = Distance_t{0};
-    deccelDist = Distance_t{0};
+    decelDist = Distance_t{0};
   } else if (accelDist + fullSpeedDist > distToTarget) {
     fullSpeedDist = distToTarget - accelDist;
-    deccelDist = Distance_t{0};
+    decelDist = Distance_t{0};
   } else {
-    deccelDist = distToTarget - fullSpeedDist - accelDist;
+    decelDist = distToTarget - fullSpeedDist - accelDist;
   }
 
   units::second_t accelTime =
@@ -143,14 +143,14 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
                        velocity * velocity + 2 * acceleration * accelDist))) /
       acceleration;
 
-  units::second_t deccelTime =
-      (-deccelVelocity +
-       units::math::sqrt(units::math::abs(deccelVelocity * deccelVelocity +
-                                          2 * decceleration * deccelDist))) /
-      decceleration;
+  units::second_t decelTime =
+      (-decelVelocity +
+       units::math::sqrt(units::math::abs(decelVelocity * decelVelocity +
+                                          2 * deceleration * decelDist))) /
+      deceleration;
 
   units::second_t fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;
 
-  return accelTime + fullSpeedTime + deccelTime;
+  return accelTime + fullSpeedTime + decelTime;
 }
 }  // namespace frc