Fix up comments and incorrect unit

Gold856 · Oct 2, 2024 · 5bb657b · 5bb657b
1 parent 7aebff3
commit 5bb657b
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Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/Constants.h
@@ -29,6 +29,10 @@ inline constexpr double kEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
     ((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
 
+// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+// These values MUST be determined either experimentally or theoretically for
+// *your* robot's drive. The SysId tool provides a convenient method for
+// obtaining feedback and feedforward values for your robot.
 inline constexpr double kTurnP = 1;
 inline constexpr double kTurnI = 0;
 inline constexpr double kTurnD = 0;
@@ -39,10 +43,6 @@ inline constexpr auto kTurnRateTolerance = 10_deg_per_s;
 inline constexpr auto kMaxTurnRate = 100_deg_per_s;
 inline constexpr auto kMaxTurnAcceleration = 300_deg_per_s / 1_s;
 
-// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
-// These characterization values MUST be determined either experimentally or
-// theoretically for *your* robot's drive. The SysId tool provides a convenient
-// method for obtaining these values for your robot.
 inline constexpr auto ks = 1_V;
 inline constexpr auto kv = 0.8_V * 1_s / 1_deg;
 inline constexpr auto ka = 0.15_V * 1_s * 1_s / 1_deg;

diff --git a/...Examples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java b/...Examples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
@@ -32,6 +32,10 @@ public static final class DriveConstants {
         // Assumes the encoders are directly mounted on the wheel shafts
         (kWheelDiameterMeters * Math.PI) / kEncoderCPR;
 
+    // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+    // These values MUST be determined either experimentally or theoretically for *your* robot's
+    // drive. The SysId tool provides a convenient method for obtaining feedback and feedforward
+    // values for your robot.
     public static final double kTurnP = 1;
     public static final double kTurnI = 0;
     public static final double kTurnD = 0;
@@ -42,10 +46,6 @@ public static final class DriveConstants {
     public static final double kMaxTurnRateDegPerS = 100;
     public static final double kMaxTurnAccelerationDegPerSSquared = 300;
 
-    // These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
-    // These characterization values MUST be determined either experimentally or theoretically
-    // for *your* robot's drive.
-    // The SysId tool provides a convenient method for obtaining these values for your robot.
     public static final double ksVolts = 1;
     public static final double kvVoltSecondsPerDegree = 0.8;
     public static final double kaVoltSecondsSquaredPerDegree = 0.15;

diff --git a/...s/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java b/...s/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/subsystems/Drive.java
@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.rapidreactcommandbot.subsystems;
 
-import static edu.wpi.first.units.Units.RadiansPerSecond;
+import static edu.wpi.first.units.Units.DegreesPerSecond;
 import static edu.wpi.first.units.Units.Volts;
 
 import edu.wpi.first.epilogue.Logged;
@@ -144,7 +144,7 @@ public Command turnToAngleCommand(double angleDeg) {
                     m_controller.calculate(m_gyro.getRotation2d().getDegrees(), angleDeg)
                         // Divide feedforward voltage by battery voltage to normalize it to [-1, 1]
                         + m_feedforward
-                                .calculate(RadiansPerSecond.of(m_controller.getSetpoint().velocity))
+                                .calculate(DegreesPerSecond.of(m_controller.getSetpoint().velocity))
                                 .in(Volts)
                             / RobotController.getBatteryVoltage()))
         .until(m_controller::atGoal)