Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] LTVDifferentialDriveController: Remove unused variable (#4212)

Browse Source
This commit is contained in:
Tyler Veness
2022-05-04 22:03:15 -07:00
committed by GitHub
parent 99343d40ba
commit d5456cf278
2 changed files with 0 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
View File

@@ -127,11 +127,7 @@ public class LTVDifferentialDriveController {
.times(-1.0)
.get(0, 0);
var x = new Matrix<>(Nat.N5(), Nat.N1());
for (double velocity = -maxV; velocity < maxV; velocity += 0.01) {
x.set(State.kLeftVelocity.value, 0, velocity);
x.set(State.kRightVelocity.value, 0, velocity);
// The DARE is ill-conditioned if the velocity is close to zero, so don't
// let the system stop.
if (Math.abs(velocity) < 1e-4) {