diff --git a/source/docs/software/advanced-controls/trajectories/ramsete.rst b/source/docs/software/advanced-controls/trajectories/ramsete.rst index a4e815a385..952e2fba98 100644 --- a/source/docs/software/advanced-controls/trajectories/ramsete.rst +++ b/source/docs/software/advanced-controls/trajectories/ramsete.rst @@ -1,6 +1,6 @@ # Ramsete Controller -.. warning:: Ramsete Controller has been deprecated. Use :doc:`LTV Unicycle Controller ` which has more intuitive tuning. +.. warning:: Ramsete Controller has been :term:`deprecated`. Use :doc:`LTV Unicycle Controller ` which has more intuitive tuning. The Ramsete Controller is a trajectory tracker that is built in to WPILib. This tracker can be used to accurately track trajectories with correction for minor disturbances. diff --git a/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst b/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst index 5c53f57112..1c917fa3f4 100644 --- a/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst +++ b/source/docs/software/pathplanning/trajectory-tutorial/trajectory-tutorial-overview.rst @@ -2,7 +2,7 @@ # Trajectory Tutorial Overview -.. todo:: add pathweaver stuff once it is available +.. warning:: This tutorial uses the Ramsete Controller which has been :term:`deprecated`. The replacement is :doc:`LTV Unicycle Controller ` which has more intuitive tuning. We are looking for volunteers to [update this tutorial](https://github.com/wpilibsuite/frc-docs/issues/2651). .. note:: Before following this tutorial, it is helpful (but not strictly necessary) to have a baseline familiarity with WPILib's :ref:`PID control `, :ref:`feedforward `, and :ref:`trajectory ` features.