Use turns_per_second instead of radians_per_sec to match java

mjansen4857 · Dec 31, 2024 · 3993d00 · 3993d00
1 parent 9a4dbb7
commit 3993d00
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/util/swerve/SwerveSetpointGenerator.cpp
@@ -5,7 +5,7 @@ SwerveSetpointGenerator::SwerveSetpointGenerator() : maxSteerVelocity(
 }
 
 SwerveSetpointGenerator::SwerveSetpointGenerator(const RobotConfig &config,
-		units::radians_per_second_t maxSteerVelocity) : m_robotConfig(config), maxSteerVelocity(
+		units::turns_per_second_t maxSteerVelocity) : m_robotConfig(config), maxSteerVelocity(
 		maxSteerVelocity) {
 	brownoutVoltage = frc::RobotController::GetBrownoutVoltage();
 }

diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h b/pathplannerlib/src/main/native/include/pathplanner/lib/util/swerve/SwerveSetpointGenerator.h
@@ -28,11 +28,10 @@ class SwerveSetpointGenerator {
 	 * Create a new swerve setpoint generator
 	 *
 	 * @param config The robot configuration
-	 * @param maxSteerVelocity The maximum rotation velocity of a swerve module, in radians
-	 *     per second
+	 * @param maxSteerVelocity The maximum rotation velocity of a swerve module, in turns per second
 	 */
 	SwerveSetpointGenerator(const RobotConfig &config,
-			units::radians_per_second_t maxSteerVelocity);
+			units::turns_per_second_t maxSteerVelocity);
 
 	/**
 	 * Generate a new setpoint with explicit battery voltage. Note: Do not discretize ChassisSpeeds
@@ -99,7 +98,7 @@ class SwerveSetpointGenerator {
 	double kEpsilon = 1e-8;
 
 	RobotConfig m_robotConfig;
-	units::radians_per_second_t maxSteerVelocity;
+	units::turns_per_second_t maxSteerVelocity;
 	units::volt_t brownoutVoltage;
 
 	double findSteeringMaxS(units::meters_per_second_t x_0,