Added back wheel speed desaturation

2026-06-19 06:21:40 +00:00 · 2024-01-22 17:40:04 -06:00
parent 84f8a9f63a
commit f57f693955
1 changed files with 3 additions and 0 deletions
--- a/swervelib/SwerveDrive.java
+++ b/swervelib/SwerveDrive.java
@@ -542,6 +542,9 @@ public class SwerveDrive
                                                  maxSpeedMPS,
                                                  attainableMaxTranslationalSpeedMetersPerSecond,
                                                  attainableMaxRotationalVelocityRadiansPerSecond);
+    } else
+    {
+      SwerveDriveKinematics.desaturateWheelSpeeds(desiredStates, maxSpeedMPS);
    }

    // Sets states