From bd2efaa31444c3cf72ecf1c6cd962a7ac5fe896b Mon Sep 17 00:00:00 2001 From: Jade Turner Date: Tue, 31 Dec 2024 00:54:32 +0800 Subject: [PATCH] Fix controllers in getting started docs Signed-off-by: Jade Turner --- docs/choreolib/getting-started.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/choreolib/getting-started.md b/docs/choreolib/getting-started.md index efa94d62d..3b1167814 100644 --- a/docs/choreolib/getting-started.md +++ b/docs/choreolib/getting-started.md @@ -59,8 +59,8 @@ In general, trajectory followers accept trajectory "samples" that represent the // Generate the next speeds for the robot ChassisSpeeds speeds = new ChassisSpeeds( sample.vx + xController.calculate(pose.getX(), sample.x), - sample.vy + xController.calculate(pose.getX(), sample.y), - sample.omega + xController.calculate(pose.getRotation().getRadians(), sample.heading) + sample.vy + yController.calculate(pose.getX(), sample.y), + sample.omega + headingController.calculate(pose.getRotation().getRadians(), sample.heading) ); // Apply the generated speeds