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4 Commits

Author SHA1 Message Date
Tyler Veness
fe4d12ce22 [wpimath] Add LTV controller derivations and make enums private (#4380) 
The LTV differential drive controller derivation wasn't included inline
because it's too long.
 2022-08-28 23:04:52 -07:00
Tyler Veness
d5456cf278 [wpimath] LTVDifferentialDriveController: Remove unused variable (#4212) 2022-05-04 22:03:15 -07:00
Tyler Veness
ce1a7d698a [wpimath] Refactor WheelVoltages inner class to a separate file (#4203) 2022-05-01 11:01:20 -07:00
Tyler Veness
87bf70fa8e [wpimath] Add LTV controllers (#4094) 
This adds a unicycle controller that's a drop-in replacement for Ramsete
and a differential drive controller that controls the full pose and
outputs voltages. The main benefit is LQR-like tuning knobs using a
system model.
 2022-04-30 22:54:22 -07:00