Tyler Veness 15c521a7fe [wpimath] Fix drivetrain system identification (#3406) ...

The units for angular Kv and Ka were inconsistent with the derivation. A
second factory function overload was added for angular units that uses a
trackwidth to convert to the other form.

Notice how section 15.2 of https://file.tavsys.net/control/controls-engineering-in-frc.pdf
defines the angular feedforward as u = Kv,angular v instead of u = Kv,angular + omega.
The units cancel for elements of A but not B, so just the B matrix was incorrect in our code.

This breaks existing C++ code since the units are part of the function
signature.

2021-06-05 11:22:05 -07:00

..

src/main/cpp

[wpimath] Fix drivetrain system identification (#3406)

2021-06-05 11:22:05 -07:00

.styleguide

Fix incomplete .styleguide (#2113)

2019-11-20 22:44:18 -08:00

build.gradle

[build] Gradle: Make C++ examples runnable (#3348)

2021-05-11 19:54:53 -07:00

CMakeLists.txt

[build] Add unit-testing infrastructure to examples (#2863)

2020-11-26 11:47:35 -08:00

publish.gradle

Update to gradle 6.0 (#2074)

2019-11-12 17:14:04 -08:00