Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-05 03:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix SimpleFeedforward overload set (#7516)

Browse Source
This commit is contained in:
Tyler Veness
2024-12-07 20:32:16 -08:00
committed by GitHub
parent 6dbff902fa
commit c497e4ec22
8 changed files with 17 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
View File

@@ -368,19 +368,16 @@ public class MecanumControllerCommand extends Command {
if (m_usePID) {
final double frontLeftFeedforward =
m_feedforward.calculateWithVelocities(
m_prevFrontLeftSpeedSetpoint, frontLeftSpeedSetpoint);
m_feedforward.calculate(m_prevFrontLeftSpeedSetpoint, frontLeftSpeedSetpoint);
final double rearLeftFeedforward =
m_feedforward.calculateWithVelocities(m_prevRearLeftSpeedSetpoint, rearLeftSpeedSetpoint);
m_feedforward.calculate(m_prevRearLeftSpeedSetpoint, rearLeftSpeedSetpoint);
final double frontRightFeedforward =
m_feedforward.calculateWithVelocities(
m_prevFrontRightSpeedSetpoint, frontRightSpeedSetpoint);
m_feedforward.calculate(m_prevFrontRightSpeedSetpoint, frontRightSpeedSetpoint);
final double rearRightFeedforward =
m_feedforward.calculateWithVelocities(
m_prevRearRightSpeedSetpoint, rearRightSpeedSetpoint);
m_feedforward.calculate(m_prevRearRightSpeedSetpoint, rearRightSpeedSetpoint);
frontLeftOutput =
frontLeftFeedforward

5
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
View File

@@ -181,11 +181,10 @@ public class RamseteCommand extends Command {
double rightOutput;
if (m_usePID) {
double leftFeedforward =
m_feedforward.calculateWithVelocities(m_prevLeftSpeedSetpoint, leftSpeedSetpoint);
double leftFeedforward = m_feedforward.calculate(m_prevLeftSpeedSetpoint, leftSpeedSetpoint);
double rightFeedforward =
m_feedforward.calculateWithVelocities(m_prevRightSpeedSetpoint, rightSpeedSetpoint);
m_feedforward.calculate(m_prevRightSpeedSetpoint, rightSpeedSetpoint);
leftOutput =
leftFeedforward