From 6191f311f1bc681e531084943b2993ce4519e158 Mon Sep 17 00:00:00 2001 From: Jade Date: Wed, 22 Jan 2025 16:14:46 +0800 Subject: [PATCH] Update ltv.rst Co-authored-by: Tyler Veness --- source/docs/software/advanced-controls/trajectories/ltv.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/docs/software/advanced-controls/trajectories/ltv.rst b/source/docs/software/advanced-controls/trajectories/ltv.rst index 8049b12fac..fffce60ed9 100644 --- a/source/docs/software/advanced-controls/trajectories/ltv.rst +++ b/source/docs/software/advanced-controls/trajectories/ltv.rst @@ -5,7 +5,7 @@ The LTV Unicycle Controller ([C++](https://github.wpilib.org/allwpilib/docs/rele ## Constructing the LTV Unicycle Controller Object -The LTV Unicycle controller should be initialized with four parameters. `qelems` is a vector of the maximum desired error tolerance in the X and Y directions and heading. `relems` is a vector of the desired control effort in linear velocity and angular velocity. `dt` represents the timestep used in calculations (the default loop rate of 20 ms is a reasonable value) and `maxVelocity` should be the max velocity your robot can achieve. See :ref:`The State Space control LQR Tuning ` for more information on the effect of `relems` and `qelems` on the controller. +The LTV Unicycle controller should be initialized with four parameters. `qelems` is a vector of the maximum desired error tolerance in the X and Y directions and heading. `relems` is a vector of the desired control effort in linear velocity and angular velocity. `dt` represents the timestep used in calculations (the default loop rate of 20 ms is a reasonable value) and `maxVelocity` should be the max velocity your robot can achieve. See :ref:`The State Space control LQR Tuning ` for more information on the effect of `qelems` and `relems` on the controller. The code example below initializes the LTV Unicycle Controller with `qelems` of 0.0625 m in X, 0.125 m in Y, and 2 radians in heading; `relems` of 1 m/s of linear velocity, and 2 rad/sec angular velocity; `dt` of 20 ms; and `maxVelocity` of 9 m/s.