Update advanced-controls

wpilibsuite · Nov 24, 2024 · 623b3d2 · 623b3d2
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diff --git a/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst b/source/docs/software/advanced-controls/introduction/introduction-to-pid.rst
@@ -27,7 +27,6 @@ Roughly speaking: the proportional term drives the position error to zero, the d
    Throughout the WPILib documentation, you'll see two ways of writing the tunable constants of the PID controller.
 
    For example, for the proportional gain:
-
       * :math:`K_p` is the standard math-equation-focused way to notate the constant.
       * ``kP`` is a common way to see it written as a variable in software.
 

diff --git a/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst b/source/docs/software/advanced-controls/introduction/tuning-flywheel.rst
@@ -6,8 +6,8 @@ In this section, we will tune a simple velocity controller for a flywheel.  The
 
 Our "Flywheel" consists of:
 
-  * A rotating inertial mass which launches the game piece (the flywheel)
-  * A motor (and possibly a gearbox) driving the mass.
+* A rotating inertial mass which launches the game piece (the flywheel)
+* A motor (and possibly a gearbox) driving the mass.
 
 For the purposes of this tutorial, this plant is modeled with the same equation used by WPILib's :ref:`docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward`, with additional adjustment for sensor delay and gearbox inefficiency. The simulation assumes the plant is controlled by feedforward and feedback controllers, composed in this fashion:
 

diff --git a/source/docs/software/advanced-controls/introduction/tuning-turret.rst b/source/docs/software/advanced-controls/introduction/tuning-turret.rst
@@ -8,8 +8,8 @@ A turret rotates some mechanism side-to-side to position it for scoring gamepiec
 
 Our "turret" consists of:
 
-  * A rotating inertial mass (the turret)
-  * A motor and gearbox driving the mass
+* A rotating inertial mass (the turret)
+* A motor and gearbox driving the mass
 
 For the purposes of this tutorial, this plant is modeled with the same equation used by WPILib's :ref:`docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward`, with additional adjustment for sensor delay and gearbox inefficiency. The simulation assumes the plant is controlled by feedforward and feedback controllers, composed in this fashion:
 

diff --git a/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst b/source/docs/software/advanced-controls/introduction/tuning-vertical-arm.rst
@@ -8,8 +8,8 @@ Vertical arms are commonly used to lift gamepieces from the ground up to a scori
 
 Our "vertical arm" consists of:
 
-  * A mass on a stick, under the force of gravity, pivoting around an axle.
-  * A motor and gearbox driving the axle to which the mass-on-a-stick is attached
+* A mass on a stick, under the force of gravity, pivoting around an axle.
+* A motor and gearbox driving the axle to which the mass-on-a-stick is attached
 
 For the purposes of this tutorial, this plant is modeled with the same equation used by WPILib's :ref:`docs/software/advanced-controls/controllers/feedforward:ArmFeedforward`, with additional adjustment for sensor delay and gearbox inefficiency.  The simulation assumes the plant is controlled by feedforward and feedback controllers, composed in this fashion:
 

diff --git a/source/docs/software/advanced-controls/trajectories/constraints.rst b/source/docs/software/advanced-controls/trajectories/constraints.rst
@@ -6,14 +6,14 @@ For example, a custom constraint can keep the velocity of the trajectory under a
 ## WPILib-Provided Constraints
 WPILib includes a set of predefined constraints that users can utilize when generating trajectories. The list of WPILib-provided constraints is as follows:
 
- - ``CentripetalAccelerationConstraint``: Limits the centripetal acceleration of the robot as it traverses along the trajectory. This can help slow down the robot around tight turns.
- - ``DifferentialDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a differential-drive robot goes over a specified maximum velocity.
- - ``DifferentialDriveVoltageConstraint``: Limits the acceleration of a differential drive robot such that no commanded voltage goes over a specified maximum.
- - ``EllipticalRegionConstraint``: Imposes a constraint only in an elliptical region on the field.
- - ``MaxVelocityConstraint``: Imposes a max velocity constraint. This can be composed with the ``EllipticalRegionConstraint`` or ``RectangularRegionConstraint`` to limit the velocity of the robot only in a specific region.
- - ``MecanumDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a mecanum-drive robot goes over a specified maximum velocity.
- - ``RectangularRegionConstraint``: Imposes a constraint only in a rectangular region on the field.
- - ``SwerveDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a swerve-drive robot goes over a specified maximum velocity.
+- ``CentripetalAccelerationConstraint``: Limits the centripetal acceleration of the robot as it traverses along the trajectory. This can help slow down the robot around tight turns.
+- ``DifferentialDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a differential-drive robot goes over a specified maximum velocity.
+- ``DifferentialDriveVoltageConstraint``: Limits the acceleration of a differential drive robot such that no commanded voltage goes over a specified maximum.
+- ``EllipticalRegionConstraint``: Imposes a constraint only in an elliptical region on the field.
+- ``MaxVelocityConstraint``: Imposes a max velocity constraint. This can be composed with the ``EllipticalRegionConstraint`` or ``RectangularRegionConstraint`` to limit the velocity of the robot only in a specific region.
+- ``MecanumDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a mecanum-drive robot goes over a specified maximum velocity.
+- ``RectangularRegionConstraint``: Imposes a constraint only in a rectangular region on the field.
+- ``SwerveDriveKinematicsConstraint``: Limits the velocity of the robot around turns such that no wheel of a swerve-drive robot goes over a specified maximum velocity.
 
 .. note:: The ``DifferentialDriveVoltageConstraint`` only ensures that theoretical voltage commands do not go over the specified maximum using a :ref:`feedforward model <docs/software/advanced-controls/controllers/feedforward:SimpleMotorFeedforward>`. If the robot were to deviate from the reference while tracking, the commanded voltage may be higher than the specified maximum.