Tyler Veness 34c44b7ae9 Improved Drive docs and fix implementation bugs (#774) ...

I also found some inconsistencies in MecanumDrive and KilloughDrive and fixed
them.

Drive now uses the NED axes convention. Therefore, the positive X axis points
ahead, the positive Y axis points to the right, and the positive Z axis points
down.

Translation in X assumes forward is positive. Translation in Y assumes right is
positive. Rotation rate assumes clockwise is positive. Angles are measured
clockwise from the positive X axis.

Based on the angle origin convention, DrivePolar() for both Mecanum and Killough
needed the normalization removed, sine used to compute the Y component, and
cosine used to compute the X component.

The vector rotation done in DriveCartesian() needs to rotate by a negative angle
instead of positive to undo the robot's rotation. RobotDrive assumed a clockwise
angle and sensors returned counter-clockwise angles, which is why it used a
positive angle for rotation.

2017-11-26 18:36:51 -08:00

..

src

Improved Drive docs and fix implementation bugs (#774)

2017-11-26 18:36:51 -08:00

build.gradle

Adds header task to print out all headers (#704)

2017-11-03 22:50:06 -07:00

integrationTestingFiles.gradle

Update to 2018_v4 image and new build system. (#598)

2017-08-18 21:35:53 -07:00

publish.gradle

Adds WPILib JNI shared debug file publish. (#671)

2017-10-16 19:59:05 -07:00