Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[wpimath] Add SysId doc links to LinearSystemId in C++ (NFC) #5960

Merged
merged 1 commit into from
Nov 25, 2023
Merged

[wpimath] Add SysId doc links to LinearSystemId in C++ (NFC) #5960

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 10 additions & 0 deletions wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kV The velocity gain, in volts/(unit/sec).
* @param kA The acceleration gain, in volts/(unit/sec²).
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
Expand Down Expand Up @@ -118,6 +120,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param kA The acceleration gain, in volts/(unit/sec²).
*
* @throws std::domain_error if kV <= 0 or kA <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
template <typename Distance>
requires std::same_as<units::meter, Distance> ||
Expand Down Expand Up @@ -159,6 +163,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* second squared).
* @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0,
* or kAAngular <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
static LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
Expand Down Expand Up @@ -186,6 +192,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* right wheels, in meters.
* @throws domain_error if kVLinear <= 0, kALinear <= 0, kVAngular <= 0,
* kAAngular <= 0, or trackwidth <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
static LinearSystem<2, 2, 2> IdentifyDrivetrainSystem(
decltype(1_V / 1_mps) kVLinear, decltype(1_V / 1_mps_sq) kALinear,
Expand Down Expand Up @@ -215,6 +223,8 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param J the moment of inertia J of the DC motor.
* @param gearing Gear ratio from motor to output.
* @throws std::domain_error if J <= 0 or gearing <= 0.
* @see <a
* href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
static LinearSystem<2, 1, 2> DCMotorSystem(DCMotor motor,
units::kilogram_square_meter_t J,
Expand Down
Loading