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[wpimath] Add angle measurement convention to ArmFeedforward docs (NFC) (#4285)

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This commit is contained in:
Prateek Machiraju
2022-06-02 21:22:47 -07:00
committed by GitHub
parent a4ec13eb0e
commit fc37265da5
2 changed files with 47 additions and 15 deletions
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24
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
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@@ -46,7 +46,9 @@ public class ArmFeedforward {
/**
* Calculates the feedforward from the gains and setpoints.
*
* @param positionRadians The position (angle) setpoint.
* @param positionRadians The position (angle) setpoint. This angle should be measured from the
* horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
* your encoder does not follow this convention, an offset should be added.
* @param velocityRadPerSec The velocity setpoint.
* @param accelRadPerSecSquared The acceleration setpoint.
* @return The computed feedforward.
@@ -63,7 +65,9 @@ public class ArmFeedforward {
* Calculates the feedforward from the gains and velocity setpoint (acceleration is assumed to be
* zero).
*
* @param positionRadians The position (angle) setpoint.
* @param positionRadians The position (angle) setpoint. This angle should be measured from the
* horizontal (i.e. if the provided angle is 0, the arm should be parallel with the floor). If
* your encoder does not follow this convention, an offset should be added.
* @param velocity The velocity setpoint.
* @return The computed feedforward.
*/
@@ -81,7 +85,9 @@ public class ArmFeedforward {
* you a simultaneously-achievable velocity constraint.
*
* @param maxVoltage The maximum voltage that can be supplied to the arm.
* @param angle The angle of the arm.
* @param angle The angle of the arm. This angle should be measured from the horizontal (i.e. if
* the provided angle is 0, the arm should be parallel with the floor). If your encoder does
* not follow this convention, an offset should be added.
* @param acceleration The acceleration of the arm.
* @return The maximum possible velocity at the given acceleration and angle.
*/
@@ -97,7 +103,9 @@ public class ArmFeedforward {
* you a simultaneously-achievable velocity constraint.
*
* @param maxVoltage The maximum voltage that can be supplied to the arm.
* @param angle The angle of the arm.
* @param angle The angle of the arm. This angle should be measured from the horizontal (i.e. if
* the provided angle is 0, the arm should be parallel with the floor). If your encoder does
* not follow this convention, an offset should be added.
* @param acceleration The acceleration of the arm.
* @return The minimum possible velocity at the given acceleration and angle.
*/
@@ -113,7 +121,9 @@ public class ArmFeedforward {
* simultaneously-achievable acceleration constraint.
*
* @param maxVoltage The maximum voltage that can be supplied to the arm.
* @param angle The angle of the arm.
* @param angle The angle of the arm. This angle should be measured from the horizontal (i.e. if
* the provided angle is 0, the arm should be parallel with the floor). If your encoder does
* not follow this convention, an offset should be added.
* @param velocity The velocity of the arm.
* @return The maximum possible acceleration at the given velocity.
*/
@@ -128,7 +138,9 @@ public class ArmFeedforward {
* simultaneously-achievable acceleration constraint.
*
* @param maxVoltage The maximum voltage that can be supplied to the arm.
* @param angle The angle of the arm.
* @param angle The angle of the arm. This angle should be measured from the horizontal (i.e. if
* the provided angle is 0, the arm should be parallel with the floor). If your encoder does
* not follow this convention, an offset should be added.
* @param velocity The velocity of the arm.
* @return The minimum possible acceleration at the given velocity.
*/