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

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This commit is contained in:
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/native/cpp/frc2/command/MecanumControllerCommand.cpp
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@@ -167,7 +167,7 @@ void MecanumControllerCommand::Execute() {
m_controller.Calculate(m_pose(), m_desiredState, m_desiredRotation());
auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(targetChassisSpeeds);
targetWheelSpeeds.Desaturate(m_maxWheelVelocity);
targetWheelSpeeds = targetWheelSpeeds.Desaturate(m_maxWheelVelocity);
auto frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
auto rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;