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[wpimath] Fix MecanumDriveKinematics (#3266)

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This commit is contained in:
Tyler Veness
2021-04-30 15:50:16 -07:00
committed by GitHub
parent ff52f207cc
commit 365f5449ca
6 changed files with 84 additions and 223 deletions
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3
wpimath/src/main/java/edu/wpi/first/wpilibj/kinematics/MecanumDriveKinematics.java
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@@ -30,7 +30,7 @@ import org.ejml.simple.SimpleMatrix;
* field using encoders and a gyro.
*/
public class MecanumDriveKinematics {
private SimpleMatrix m_inverseKinematics;
private final SimpleMatrix m_inverseKinematics;
private final SimpleMatrix m_forwardKinematics;
private final Translation2d m_frontLeftWheelMeters;
@@ -167,6 +167,5 @@ public class MecanumDriveKinematics {
m_inverseKinematics.setRow(1, 0, 1, 1, fr.getX() - fr.getY());
m_inverseKinematics.setRow(2, 0, 1, 1, rl.getX() - rl.getY());
m_inverseKinematics.setRow(3, 0, 1, -1, -(rr.getX() + rr.getY()));
m_inverseKinematics = m_inverseKinematics.scale(1.0 / Math.sqrt(2));
}
}