More clearly express kv and ka units

KangarooKoala · Jul 19, 2024 · 4e1fb12 · 4e1fb12
1 parent d3132bb
commit 4e1fb12
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -21,10 +21,10 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
   /** The gravity gain, in volts. */
   private final double kg;
 
-  /** The velocity gain, in volt seconds per radian. */
+  /** The velocity gain, in V/(rad/s). */
   private final double kv;
 
-  /** The acceleration gain, in volt seconds² per radian. */
+  /** The acceleration gain, in V/(rad/s²). */
   private final double ka;
 
   /** Arm feedforward protobuf for serialization. */
@@ -90,7 +90,7 @@ public double getKg() {
   /**
    * Returns the velocity gain.
    *
-   * @return The velocity gain, in volt seconds per radian.
+   * @return The velocity gain, in V/(rad/s).
    */
   public double getKv() {
     return kv;
@@ -99,7 +99,7 @@ public double getKv() {
   /**
    * Returns the acceleration gain.
    *
-   * @return The acceleration gain, in volts seconds² per radian.
+   * @return The acceleration gain, in V/(rad/s²).
    */
   public double getKa() {
     return ka;

diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -227,10 +227,10 @@ class WPILIB_DLLEXPORT ArmFeedforward {
   /// The gravity gain, in volts.
   units::volt_t kG;
 
-  /// The velocity gain, in volt seconds per radian.
+  /// The velocity gain, in V/(rad/s)volt seconds per radian.
   units::unit_t<kv_unit> kV;
 
-  /// The acceleration gain, in volt seconds² per radian.
+  /// The acceleration gain, in V/(rad/s²).
   units::unit_t<ka_unit> kA;
 };
 }  // namespace frc