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[wpimath] Fix SimpleFeedforward overload set (#7516)

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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
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16
wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
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@@ -67,22 +67,6 @@ class SimpleMotorFeedforward {
}
}
/**
* Calculates the feedforward from the gains and setpoints assuming continuous
* control.
*
* @param velocity The velocity setpoint.
* @param acceleration The acceleration setpoint.
* @return The computed feedforward, in volts.
* @deprecated Use the current/next velocity overload instead.
*/
[[deprecated("Use the current/next velocity overload instead.")]]
constexpr units::volt_t Calculate(
units::unit_t<Velocity> velocity,
units::unit_t<Acceleration> acceleration) const {
return kS * wpi::sgn(velocity) + kV * velocity + kA * acceleration;
}
/**
* Calculates the feedforward from the gains and velocity setpoint assuming
* discrete control. Use this method when the velocity setpoint does not