From f4092159bd7fc53436ac2c30755ce3e579992fa5 Mon Sep 17 00:00:00 2001 From: Ryan Blue Date: Thu, 1 Feb 2024 17:13:22 -0500 Subject: [PATCH] Fix incorrect ordering of parameters in TrapezoidProfileSubsystem --- .../wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java | 2 +- .../native/include/frc2/command/TrapezoidProfileSubsystem.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java index 54d4edef5c3..44abdfc4db9 100644 --- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java +++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java @@ -63,7 +63,7 @@ public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints) { @Override public void periodic() { - m_state = m_profile.calculate(m_period, m_goal, m_state); + m_state = m_profile.calculate(m_period, m_state, m_goal); if (m_enabled) { useState(m_state); } diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h index 344aefc77ea..56680103122 100644 --- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h +++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h @@ -45,7 +45,7 @@ class TrapezoidProfileSubsystem : public SubsystemBase { m_period(period) {} void Periodic() override { - m_state = m_profile.Calculate(m_period, m_goal, m_state); + m_state = m_profile.Calculate(m_period, m_state, m_goal); if (m_enabled) { UseState(m_state); }