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Simplify RLIs with :lineno-match: #2851

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Nov 22, 2024
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Simplify RLIs with :lineno-match: #2851

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b3b7815
Simplify RLIs with :lineno-match:
sciencewhiz Nov 22, 2024
0e92623
Avoid disjoint lines
sciencewhiz Nov 22, 2024
50f6e09
Merge branch 'main' into lineno-match
sciencewhiz Nov 22, 2024
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12 changes: 4 additions & 8 deletions source/docs/contributing/frc-docs/style-guide.rst
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Expand Up @@ -104,20 +104,17 @@ When possible, instead of using code blocks, an RLI should be used. This pulls
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```

Make sure to link to the raw version of the file on GitHub. There is a handy ``Raw`` button in the top right corner of the page.
Expand All @@ -132,8 +129,7 @@ To create code tabs in an article, you can use the ``.. tab-set-code::`` directi
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```c++
// Start the timer.
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3 changes: 1 addition & 2 deletions source/docs/romi-robot/programming-romi.rst
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Expand Up @@ -37,8 +37,7 @@ To run a Romi program, first, ensure that your Romi is powered on. Next, connect
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Now to start your Romi robot code, open the WPILib Command Palette (type :kbd:`Ctrl+Shift+P`) and select "Simulate Robot Code", or press :kbd:`F5`.
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9 changes: 3 additions & 6 deletions source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst
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Expand Up @@ -146,17 +146,14 @@ A more complete example of ``ProfiledPIDController`` usage is provided in the El
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9 changes: 3 additions & 6 deletions source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst
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Expand Up @@ -165,17 +165,14 @@ A more complete example of ``TrapezoidProfile`` usage is provided in the Elevato
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80 changes: 27 additions & 53 deletions ...ocs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst
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Expand Up @@ -68,8 +68,7 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
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Expand All @@ -78,28 +77,24 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
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.. tab-item:: Python

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### Modeling Using Flywheel Moment of Inertia and Gearing
Expand All @@ -120,38 +115,33 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
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.. tab-item:: Python
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## Kalman Filters: Observing Flywheel State

Expand All @@ -174,32 +164,28 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
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Because Kalman filters use our state-space model in the :ref:`docs/software/advanced-controls/state-space/state-space-observers:Predict step`, it is important that our model is as accurate as possible. One way to verify this is to record a flywheel's input voltage and velocity over time, and replay this data by calling only ``predict`` on the Kalman filter. Then, the kV and kA gains (or moment of inertia and other constants) can be adjusted until the model closely matches the recorded data.

Expand All @@ -219,32 +205,28 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
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.. tab-item:: Python
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## Bringing it All Together: LinearSystemLoop

Expand All @@ -258,32 +240,28 @@ LinearSystemLoop combines our system, controller, and observer that we created e
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.. tab-item:: Python
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Once we have our ``LinearSystemLoop``, the only thing left to do is actually run it. To do that, we'll periodically update our Kalman filter with our new encoder velocity measurements and apply new voltage commands to it. To do that, we first set the :term:`reference`, then ``correct`` with the current flywheel speed, ``predict`` the Kalman filter into the next timestep, and apply the inputs generated using ``getU``.

Expand All @@ -295,32 +273,28 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
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.. tab-item:: Python
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## Angle Wrap with LQR

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12 changes: 4 additions & 8 deletions source/docs/software/advanced-controls/state-space/state-space-observers.rst
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Expand Up @@ -94,30 +94,26 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
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.. tab-item:: Python

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## Footnotes

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