Fix feedforward classes to be unitless

robotpy / robotpy-wpilib

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Fix feedforward classes to be unitless #643

Closed auscompgeek closed 4 years ago

virtuald commented 4 years ago

I'm not sure this is a good idea, because the units interact with volts (kv, ka) internally, unlike the controller classes.

auscompgeek commented 4 years ago

Sure, but what units do you use to measure the distance a flywheel spins?

The Java API makes these unitless because the units do indeed cancel out.

virtuald commented 4 years ago

I would be fine with you adding a scalar version that has the original name. I don't really want to remove them at this time, because we've already broken users enough times this season.