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3 Commits

Author SHA1 Message Date
Tyler Veness
046c2c8972 [wpilibc] Rename SpeedControllerGroupTest.cpp (#4258) 
Also move motor controller test files into motorcontrol folder to match
Java.
 2022-05-21 16:20:26 -07:00
Tyler Veness
49adac9564 [wpilib] Check for signedness in ArcadeDriveIK() (#4028) 
If xSpeed == -0.0 and zRotation > 0, the algorithm assumes it's in the
third quadrant instead of the first since +0.0 == -0.0.

Also added tests for inverse kinematic functions, fixed some
MecanumDrive test bugs, and added Java MecanumDrive.driveCartesianIK()
and KilloughDrive.driveCartesianIK() overloads with defaulted gyro angle
that C++ already had.

Fixes #4022.
 2022-02-17 18:03:59 -08:00
Tyler Veness
0768c39036 [wpilib] DifferentialDrive: Remove right side inversion (#3340) 
Also refactor drive inverse kinematics into separate functions.
This allows composing them with operations separate from the drive
class.
 2021-05-21 22:34:16 -07:00