Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-06 03:31:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Improve MotorSafety documentation (NFC) (#4120)

Browse Source 
Remove OBE RobotDrive porting guide from MecanumDrive
This commit is contained in:
sciencewhiz
2022-03-20 21:54:43 -07:00
committed by GitHub
parent 8d79dc8738
commit e1b6e5f212
10 changed files with 33 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
wpilibc/src/main/native/include/frc/drive/MecanumDrive.h
View File

@@ -57,15 +57,8 @@ class SpeedController;
* so that the full range is still used. This deadband value can be changed
* with SetDeadband().
*
* RobotDrive porting guide:
* <br>DriveCartesian(double, double, double, double) is equivalent to
* RobotDrive's MecanumDrive_Cartesian(double, double, double, double)
* if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted
* compared to RobotDrive (eg DriveCartesian(xSpeed, -ySpeed, zRotation,
* -gyroAngle).
* <br>DrivePolar(double, double, double) is equivalent to
* RobotDrive's MecanumDrive_Polar(double, double, double) if a
* deadband of 0 is used.
* MotorSafety is enabled by default. The DriveCartesian or DrivePolar
* methods should be called periodically to avoid Motor Safety timeouts.
*/
class MecanumDrive : public RobotDriveBase,
public wpi::Sendable,