s/seperation/separation/g
diff --git a/frc971/constants.h b/frc971/constants.h
index ab4bd35..3952642 100755
--- a/frc971/constants.h
+++ b/frc971/constants.h
@@ -63,7 +63,7 @@
double claw_zeroing_speed;
double claw_zeroing_separation;
- // claw seperation that would be considered a collision
+ // claw separation that would be considered a collision
double claw_min_separation;
double claw_max_separation;
diff --git a/frc971/control_loops/claw/claw.cc b/frc971/control_loops/claw/claw.cc
index b6e3024..be21efe 100755
--- a/frc971/control_loops/claw/claw.cc
+++ b/frc971/control_loops/claw/claw.cc
@@ -311,7 +311,7 @@
// Ready to use the claw.
// Limit the goals here.
bottom_claw_goal_ = goal->bottom_angle;
- top_claw_goal_ = goal->bottom_angle + goal->seperation_angle;
+ top_claw_goal_ = goal->bottom_angle + goal->separation_angle;
has_bottom_claw_goal_ = true;
has_top_claw_goal_ = true;
doing_calibration_fine_tune_ = false;
diff --git a/frc971/control_loops/claw/claw.h b/frc971/control_loops/claw/claw.h
index 344fd78..2d13d37 100755
--- a/frc971/control_loops/claw/claw.h
+++ b/frc971/control_loops/claw/claw.h
@@ -246,7 +246,7 @@
bool was_enabled_;
bool doing_calibration_fine_tune_;
- // The initial seperation when disabled. Used as the safe seperation
+ // The initial separation when disabled. Used as the safe separation
// distance.
double initial_separation_;
diff --git a/frc971/control_loops/claw/claw.q b/frc971/control_loops/claw/claw.q
index f78dee6..b9b6822 100644
--- a/frc971/control_loops/claw/claw.q
+++ b/frc971/control_loops/claw/claw.q
@@ -30,7 +30,7 @@
// The angle of the bottom claw.
double bottom_angle;
// How much higher the top claw is.
- double seperation_angle;
+ double separation_angle;
bool intake;
};
diff --git a/frc971/control_loops/claw/claw_lib_test.cc b/frc971/control_loops/claw/claw_lib_test.cc
index e16e3a4..3fa9079 100644
--- a/frc971/control_loops/claw/claw_lib_test.cc
+++ b/frc971/control_loops/claw/claw_lib_test.cc
@@ -257,9 +257,9 @@
ClawMotor claw_motor_;
ClawMotorSimulation claw_motor_plant_;
- // Minimum amount of acceptable seperation between the top and bottom of the
+ // Minimum amount of acceptable separation between the top and bottom of the
// claw.
- double min_seperation_;
+ double min_separation_;
ClawTest()
: claw_queue_group(".frc971.control_loops.claw_queue_group", 0x9f1a99dd,
@@ -269,7 +269,7 @@
".frc971.control_loops.claw_queue_group.status"),
claw_motor_(&claw_queue_group),
claw_motor_plant_(0.4, 0.2),
- min_seperation_(constants::GetValues().claw.claw_min_separation) {
+ min_separation_(constants::GetValues().claw.claw_min_separation) {
// Flush the robot state queue so we can use clean shared memory for this
// test.
::aos::robot_state.Clear();
@@ -294,11 +294,11 @@
claw_queue_group.goal.FetchLatest();
claw_queue_group.position.FetchLatest();
double bottom = claw_motor_plant_.GetAbsolutePosition(BOTTOM_CLAW);
- double seperation =
+ double separation =
claw_motor_plant_.GetAbsolutePosition(TOP_CLAW) - bottom;
EXPECT_NEAR(claw_queue_group.goal->bottom_angle, bottom, 1e-4);
- EXPECT_NEAR(claw_queue_group.goal->seperation_angle, seperation, 1e-4);
- EXPECT_TRUE(min_seperation_ <= seperation);
+ EXPECT_NEAR(claw_queue_group.goal->separation_angle, separation, 1e-4);
+ EXPECT_TRUE(min_separation_ <= separation);
}
@@ -312,7 +312,7 @@
TEST_F(ClawTest, ZerosCorrectly) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
for (int i = 0; i < 500; ++i) {
claw_motor_plant_.SendPositionMessage();
@@ -408,7 +408,7 @@
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
for (int i = 0; i < 700; ++i) {
claw_motor_plant_.SendPositionMessage();
@@ -426,7 +426,7 @@
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
for (int i = 0; i < 700; ++i) {
if (i % 23) {
@@ -469,7 +469,7 @@
TEST_F(ClawTest, RezeroWithMissingPos) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
for (int i = 0; i < 800; ++i) {
// After 3 seconds, simulate the encoder going missing.
@@ -484,7 +484,7 @@
}
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.2)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
}
if (i == 410) {
@@ -506,7 +506,7 @@
TEST_F(ClawTest, DisableGoesUninitialized) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
for (int i = 0; i < 800; ++i) {
claw_motor_plant_.SendPositionMessage();
@@ -598,7 +598,7 @@
TEST_F(WindupClawTest, NoWindupPositive) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
TestWindup(ClawMotor::UNKNOWN_LOCATION, 100, 971.0);
@@ -611,7 +611,7 @@
TEST_F(WindupClawTest, NoWindupNegative) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
TestWindup(ClawMotor::UNKNOWN_LOCATION, 100, -971.0);
@@ -624,7 +624,7 @@
TEST_F(WindupClawTest, NoWindupNegativeFineTune) {
claw_queue_group.goal.MakeWithBuilder()
.bottom_angle(0.1)
- .seperation_angle(0.2)
+ .separation_angle(0.2)
.Send();
TestWindup(ClawMotor::FINE_TUNE_BOTTOM, 200, -971.0);
diff --git a/frc971/control_loops/python/claw.py b/frc971/control_loops/python/claw.py
index 98d79ea..9e2bb74 100755
--- a/frc971/control_loops/python/claw.py
+++ b/frc971/control_loops/python/claw.py
@@ -273,7 +273,7 @@
t.append(0.01 * i)
pylab.plot(t, close_loop_x_bottom, label='x bottom')
- pylab.plot(t, close_loop_x_sep, label='seperation')
+ pylab.plot(t, close_loop_x_sep, label='separation')
pylab.plot(t, close_loop_u_bottom, label='u bottom')
pylab.plot(t, close_loop_u_top, label='u top')
pylab.legend()