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[wpimath] Check LTV controller max velocity precondition (#5142)

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This commit is contained in:
Tyler Veness
2023-02-26 15:05:41 -08:00
committed by GitHub
parent 4b0eecaee0
commit ce3686b80d
6 changed files with 27 additions and 0 deletions
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1
wpimath/src/main/native/include/frc/controller/LTVDifferentialDriveController.h
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@@ -41,6 +41,7 @@ class WPILIB_DLLEXPORT LTVDifferentialDriveController {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::domain_error if max velocity of plant with 12 V input <= 0.
*/
LTVDifferentialDriveController(const frc::LinearSystem<2, 2, 2>& plant,
units::meter_t trackwidth,

2
wpimath/src/main/native/include/frc/controller/LTVUnicycleController.h
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@@ -36,6 +36,7 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
* @throws std::domain_error if maxVelocity &lt;= 0.
*/
explicit LTVUnicycleController(
units::second_t dt, units::meters_per_second_t maxVelocity = 9_mps);
@@ -48,6 +49,7 @@ class WPILIB_DLLEXPORT LTVUnicycleController {
* @param dt Discretization timestep.
* @param maxVelocity The maximum velocity for the controller gain lookup
* table.
* @throws std::domain_error if maxVelocity &lt;= 0.
*/
LTVUnicycleController(const wpi::array<double, 3>& Qelems,
const wpi::array<double, 2>& Relems, units::second_t dt,