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[wpimath] Use immutable member functions in ChassisSpeeds (#7545)

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Tyler Veness
2024-12-15 16:09:34 -08:00
committed by GitHub
parent 945d416d07
commit 03f0fc4dea
24 changed files with 163 additions and 412 deletions
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2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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@@ -488,7 +488,7 @@ public class MecanumControllerCommand extends Command {
m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
targetWheelSpeeds = targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
double frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
double rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;