diff --git a/C++/MotionMagic/src/main/cpp/Robot.cpp b/C++/MotionMagic/src/main/cpp/Robot.cpp index 0d6ef1a3..41bdd8a6 100644 --- a/C++/MotionMagic/src/main/cpp/Robot.cpp +++ b/C++/MotionMagic/src/main/cpp/Robot.cpp @@ -69,7 +69,7 @@ void Robot::TeleopPeriodic() { } /** - * Peform Motion Magic when Button 1 is held, + * Perform Motion Magic when Button 1 is held, * else run Percent Output, which can be used to confirm hardware setup. */ if (_joy->GetRawButton(1)) { diff --git a/Java/Current Limit/src/main/java/frc/robot/Constants.java b/Java/Current Limit/src/main/java/frc/robot/Constants.java index 2a65fbfb..3add9531 100644 --- a/Java/Current Limit/src/main/java/frc/robot/Constants.java +++ b/Java/Current Limit/src/main/java/frc/robot/Constants.java @@ -10,7 +10,7 @@ class Constants{ /* Duration after current exceed Peak Current to trigger current limit */ static final int kPeakTimeMs = 0; - /* Current to mantain once current limit has been triggered */ + /* Current to maintain once current limit has been triggered */ static final int kContinCurrentAmps = 10; /** diff --git a/Java/Current Limit/src/main/java/frc/robot/Robot.java b/Java/Current Limit/src/main/java/frc/robot/Robot.java index 42af0dcc..349a91a3 100644 --- a/Java/Current Limit/src/main/java/frc/robot/Robot.java +++ b/Java/Current Limit/src/main/java/frc/robot/Robot.java @@ -28,7 +28,7 @@ * The Current Limit Feature expands across 4 different functions: * 1.) configPeakCurrentLimit(), Config current threshold to trigger current limit * 2.) configPeakCurrentDuration(), Config duration after peak current to trigger current limit - * 3.) configContinousCurrentLimit(), Config current to mantain after limit is triggered + * 3.) configContinousCurrentLimit(), Config current to maintain after limit is triggered * 4.) enableCurrentLimit(bool enable), Enable/Disable Current Limiting on Talon * * This example has been configured to hold 10 Amps almost instantly after current @@ -36,7 +36,7 @@ * * Controls: * Button 1: When held, enable Percent Output. To be used with Left Joystick Y-Axis - * Button 2: When pressed, peform Postion Closed Loop servo to 0 position + * Button 2: When pressed, perform Position Closed Loop servo to 0 position * Button 5: When pressed, toggle between current limit Enable and Disable. * Enable/Disable state indcated through prints * Left Joystick Y-Axis: Throttle Talon forward and reverse when Button 1 is held @@ -82,11 +82,11 @@ public void teleopInit() { Constants.kTimeoutMs); // Config Timeout /* Ensure Sensor is in phase, else closed loop will not work. - * Postivie Sensor should match Motor Positive output (Green LED) + * Positive Sensor should match Motor Positive output (Green LED) */ _tal.setSensorPhase(true); - /* Gains for Postion Closed Loop servo */ + /* Gains for Position Closed Loop servo */ _tal.config_kP(Constants.SLOT_0, Constants.kGains.kP, Constants.kTimeoutMs); _tal.config_kI(Constants.SLOT_0, Constants.kGains.kI, Constants.kTimeoutMs); _tal.config_kD(Constants.SLOT_0, Constants.kGains.kD, Constants.kTimeoutMs); diff --git a/Java/DriveStraight_AuxQuadrature/src/main/java/frc/robot/Robot.java b/Java/DriveStraight_AuxQuadrature/src/main/java/frc/robot/Robot.java index 6c4f9e59..555742e7 100644 --- a/Java/DriveStraight_AuxQuadrature/src/main/java/frc/robot/Robot.java +++ b/Java/DriveStraight_AuxQuadrature/src/main/java/frc/robot/Robot.java @@ -37,7 +37,7 @@ * 2.) Percent Output Drive Straight with quadrature difference * * Controls: - * Button 1: When pressed, zero heading. Set quadrature encoder's postions to 0. + * Button 1: When pressed, zero heading. Set quadrature encoder's positions to 0. * Button 2: When pressed, toggle between Arcade Drive and Drive Straight with quadrature difference * When toggling into Drive Straight, the current heading is saved and used as the * closed loop target. Can be changed by toggling out and in again. diff --git a/Java/MotionMagic/src/main/java/frc/robot/Robot.java b/Java/MotionMagic/src/main/java/frc/robot/Robot.java index 25e61db6..be9086b8 100644 --- a/Java/MotionMagic/src/main/java/frc/robot/Robot.java +++ b/Java/MotionMagic/src/main/java/frc/robot/Robot.java @@ -152,7 +152,7 @@ public void teleopPeriodic() { _sb.append(_talon.getSelectedSensorVelocity(Constants.kPIDLoopIdx)); /** - * Peform Motion Magic when Button 1 is held, + * Perform Motion Magic when Button 1 is held, * else run Percent Output, which can be used to confirm hardware setup. */ if (_joy.getRawButton(1)) { diff --git a/Java/MotionMagic_AuxStraightPigeon/src/main/java/frc/robot/Robot.java b/Java/MotionMagic_AuxStraightPigeon/src/main/java/frc/robot/Robot.java index 56210ac0..8ec0c932 100644 --- a/Java/MotionMagic_AuxStraightPigeon/src/main/java/frc/robot/Robot.java +++ b/Java/MotionMagic_AuxStraightPigeon/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The MotionMagic_AuxStraightPigeon example demonstrates the new Talon/Victor auxiliary and - * remote features to peform complex closed loops. This example has the robot performing + * remote features to perform complex closed loops. This example has the robot performing * Motion Magic with an auxiliary closed loop on Pigeon Yaw to keep the robot straight. * * This example uses: diff --git a/Java/MotionMagic_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java b/Java/MotionMagic_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java index 1ba08ee2..989428c2 100644 --- a/Java/MotionMagic_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java +++ b/Java/MotionMagic_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The MotionMagic_AuxStraightQuadrature example demonstrates the new Talon/Victor auxiliary and - * remote features used to peform complex closed loops. This example has the robot performing + * remote features used to perform complex closed loops. This example has the robot performing * Motion Magic with an auxiliary closed loop on Quadrature Difference to keep the robot straight. * * This example uses: diff --git a/Java/MotionProfile/src/main/java/frc/robot/Robot.java b/Java/MotionProfile/src/main/java/frc/robot/Robot.java index a42e3561..f5cb0495 100644 --- a/Java/MotionProfile/src/main/java/frc/robot/Robot.java +++ b/Java/MotionProfile/src/main/java/frc/robot/Robot.java @@ -82,7 +82,7 @@ public void disabledInit() { _talon.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, Constants.kPIDLoopIdx, Constants.kTimeoutMs); - /* Keep sensor and motor in phase, postive sensor values when MC LEDs are green */ + /* Keep sensor and motor in phase, positive sensor values when MC LEDs are green */ _talon.setSensorPhase(true); /** @@ -115,7 +115,7 @@ public void teleopPeriodic() { /** * Get the left joystick axis on Logitech Gampead, - * Joystick forward should be postive + * Joystick forward should be positive */ double leftYjoystick = -1 * _joy.getY(); diff --git a/Java/PositionClosedLoop/src/main/java/frc/robot/Robot.java b/Java/PositionClosedLoop/src/main/java/frc/robot/Robot.java index 488a6a3b..33e77fef 100644 --- a/Java/PositionClosedLoop/src/main/java/frc/robot/Robot.java +++ b/Java/PositionClosedLoop/src/main/java/frc/robot/Robot.java @@ -29,7 +29,7 @@ * * Be sure to select the correct feedback sensor using configSelectedFeedbackSensor() below. * Use Percent Output Mode (Holding A and using Left Joystick) to confirm talon is driving - * forward (Green LED on Talon/Victor) when the position sensor is moving in the postive + * forward (Green LED on Talon/Victor) when the position sensor is moving in the positive * direction. If this is not the case, flip the boolean input in setSensorPhase(). * * Controls: diff --git a/Java/PositionClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java b/Java/PositionClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java index d247d2b8..5d6b6c4c 100644 --- a/Java/PositionClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java +++ b/Java/PositionClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The PositionClosedLoop_AuxStraightPigeon example demonstrates the new Talon/Victor Auxiliary - * and Remote Features to peform more complex. This example has the robot performing Position + * and Remote Features to perform more complex. This example has the robot performing Position * Closed Loop with an auxiliary closed loop on Pigeon Yaw to keep the robot straight. * * This example uses: diff --git a/Java/PositionClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java b/Java/PositionClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java index aa30a9f4..c473c540 100644 --- a/Java/PositionClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java +++ b/Java/PositionClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The PositiionClosedLoop_AuxStraightQuadrature example demonstrates the new Talon/Victor Auxiliary - * and Remote Features to peform more complex. This example has the robot performing Position + * and Remote Features to perform more complex. This example has the robot performing Position * Closed Loop with an auxiliary closed loop on Quadrature Encoders difference (Heading) * to keep the robot straight. * diff --git a/Java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java b/Java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java index 4d345804..c0f29c20 100644 --- a/Java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java +++ b/Java/VelocityClosedLoop/src/main/java/frc/robot/Robot.java @@ -25,11 +25,11 @@ /** * Description: * The VelocityClosedLoop example demonstrates the velocity closed-loop servo. - * Tested with Logitech F350 USB Gamepad inserted into Driver Station] + * Tested with Logitech F350 USB Gamepad inserted into Driver Station. * * Be sure to select the correct feedback sensor using configSelectedFeedbackSensor() below. * Use Percent Output Mode (Holding A and using Left Joystick) to confirm talon is driving - * forward (Green LED on Talon/Victor) when the postion sensor is moving in the postive + * forward (Green LED on Talon/Victor) when the position sensor is moving in the positive * direction. If this is not the case, flip the boolean input in setSensorPhase(). * * Controls: diff --git a/Java/VelocityClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java b/Java/VelocityClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java index 9da061b8..5bc1cb48 100644 --- a/Java/VelocityClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java +++ b/Java/VelocityClosedLoop_AuxStraightPigeon/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The VelocityClosedLoop_AuxStraightPigeon example demonstrates the new Talon/Victor auxiliary - * and remote features used to peform complex closed loops. This example has the robot performing + * and remote features used to perform complex closed loops. This example has the robot performing * Velocity Closed Loop with an auxiliary closed loop on Pigeon yaw to keep the robot straight. * * This example uses: diff --git a/Java/VelocityClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java b/Java/VelocityClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java index c6cb3814..2e1485dd 100644 --- a/Java/VelocityClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java +++ b/Java/VelocityClosedLoop_AuxStraightQuadrature/src/main/java/frc/robot/Robot.java @@ -25,7 +25,7 @@ /** * Description: * The VelocityClosedLoop_AuxStraightQuadrature example demonstrates the new Talon/Victor auxiliary - * and remote features used to peform complex closed loops. This example has the robot performing + * and remote features used to perform complex closed loops. This example has the robot performing * Velocity closed loop with an auxiliary closed loop on quadrature encoders difference (Heading) * to keep the robot straight. *