trapezoidal_motion_profile.cpp has dimension mismatch between length and time in calculations #3
Description
https://github.com/frc1678/robot-code-public/blob/master/muan/control/trapezoidal_motion_profile.cpp#L133-L134 has the following:
} else if (accel_dist + end_full_speed > dist_to_target) {
full_speed_dist = dist_to_target - accel_dist;
accel_dist and dist_to_target have units of length while end_full_speed has units of time. This units library (https://github.com/nholthaus/units) caught this at compile time. Perhaps this was intended instead?
} else if (accel_dist + full_speed_dist > dist_to_target) {
full_speed_dist = dist_to_target - accel_dist;