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CrossTheRoadElec / Phoenix-Releases

Release repository for Phoenix-Framework and Phoenix-Tuner
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Specify units in Java docs for SwerveRequest classes #56

Closed gcschmit closed 7 months ago

gcschmit commented 7 months ago

For the SwerveRequest inner classes that refer to velocities, the Java docs for the fields and methods don't specify the expected units, which I believe are m/s. The rotational rate does specify units of radians/s. These few classes stood out as units are so clearly documented elsewhere.

bhall-ctre commented 7 months ago

the Java docs for the fields and methods don't specify the expected units, which I believe are m/s

That is correct, the velocities are in m/s. The documentation will be updated to mention this in the next beta release.

bhall-ctre commented 7 months ago

This has been fixed in the 2024 beta-4 release of Phoenix 6: https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/mechanisms/swerve/SwerveRequest.FieldCentric.html#VelocityX