Update ProfiledPIDController docs to use calculateWithVelocities #3139
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Replaces deprecated calculate(velocity, acceleration) pattern with the correct calculateWithVelocities(currentVelocity, nextVelocity) API for SimpleMotorFeedforward usage with ProfiledPIDController. Fixes wpilibsuite#2963
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Isn't this done by #3117? |
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Summary
Updates the ProfiledPIDController documentation to use the correct
calculateWithVelocities(currentVelocity, nextVelocity)API instead of the deprecatedcalculate(velocity, acceleration)pattern for SimpleMotorFeedforward.Changes
feedforward.calculateWithVelocities(lastSpeed, controller.getSetpoint().velocity)feedforward.calculateWithVelocities(self.lastSpeed, self.controller.getSetpoint().velocity)lastTimetracking in Java exampleNote: C++ example already uses the correct API (
feedforward.Calculate()which takes two velocity parameters in C++).Fixes #2963