[commands] TrapezoidProfileSubsystem: Fix incorrect ordering of parameters (wpilibsuite#6338)

rzblue · web-flow · commit 6cc7e52de74a · 2024-02-01T20:24:43.000-08:00
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java
@@ -63,7 +63,7 @@ public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints) {
 
   @Override
   public void periodic() {
-    m_state = m_profile.calculate(m_period, m_goal, m_state);
+    m_state = m_profile.calculate(m_period, m_state, m_goal);
     if (m_enabled) {
       useState(m_state);
     }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileSubsystem.h
@@ -45,7 +45,7 @@ class TrapezoidProfileSubsystem : public SubsystemBase {
         m_period(period) {}
 
   void Periodic() override {
-    m_state = m_profile.Calculate(m_period, m_goal, m_state);
+    m_state = m_profile.Calculate(m_period, m_state, m_goal);
     if (m_enabled) {
       UseState(m_state);
     }

Original file line number	Diff line number	Diff line change
`@@ -63,7 +63,7 @@ public TrapezoidProfileSubsystem(TrapezoidProfile.Constraints constraints) {`
`63`	`63`
`64`	`64`	`@Override`
`65`	`65`	`public void periodic() {`
`66`		`- m_state = m_profile.calculate(m_period, m_goal, m_state);`
	`66`	`+ m_state = m_profile.calculate(m_period, m_state, m_goal);`
`67`	`67`	`if (m_enabled) {`
`68`	`68`	`useState(m_state);`
`69`	`69`	`}`
Original file line number	Diff line number	Diff line change
`@@ -45,7 +45,7 @@ class TrapezoidProfileSubsystem : public SubsystemBase {`
`45`	`45`	`m_period(period) {}`
`46`	`46`
`47`	`47`	`void Periodic() override {`
`48`		`- m_state = m_profile.Calculate(m_period, m_goal, m_state);`
	`48`	`+ m_state = m_profile.Calculate(m_period, m_state, m_goal);`
`49`	`49`	`if (m_enabled) {`
`50`	`50`	`UseState(m_state);`
`51`	`51`	`}`