From a6f53b36db8bb404bf179c617715e60778718030 Mon Sep 17 00:00:00 2001 From: Luis Leyva Date: Tue, 22 Oct 2024 00:37:31 -0600 Subject: [PATCH] Make Docs Autobuilder example match the project example for C++ --- Writerside/topics/pplib-Build-an-Auto.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Writerside/topics/pplib-Build-an-Auto.md b/Writerside/topics/pplib-Build-an-Auto.md index 196ab8ea..5f796723 100644 --- a/Writerside/topics/pplib-Build-an-Auto.md +++ b/Writerside/topics/pplib-Build-an-Auto.md @@ -109,7 +109,7 @@ SwerveSubsystem::SwerveSubsystem(){ [this](frc::Pose2d pose){ resetPose(pose); }, // Method to reset odometry (will be called if your auto has a starting pose) [this](){ return getRobotRelativeSpeeds(); }, // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE [this](auto speeds, auto feedforwards){ driveRobotRelative(speeds); }, // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards - PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains + std::make_shared( // PPHolonomicController is the built in path following controller for holonomic drive trains PIDConstants(5.0, 0.0, 0.0), // Translation PID constants PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants ),