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[wpimath] SwerveDriveKinematics: Rename currentChassisSpeed to desiredChassisSpeed (#5393)

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This commit is contained in:
Gold856
2023-06-20 01:58:38 -04:00
committed by GitHub
parent 50b90ceb54
commit 5fc4aee2d2
3 changed files with 9 additions and 9 deletions
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8
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
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@@ -302,7 +302,7 @@ public class SwerveDriveKinematics
*
* @param moduleStates Reference to array of module states. The array will be mutated with the
* normalized speeds!
* @param currentChassisSpeed The current speed of the robot
* @param desiredChassisSpeed The desired speed of the robot
* @param attainableMaxModuleSpeedMetersPerSecond The absolute max speed that a module can reach
* @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot
* can reach while translating
@@ -311,7 +311,7 @@ public class SwerveDriveKinematics
*/
public static void desaturateWheelSpeeds(
SwerveModuleState[] moduleStates,
ChassisSpeeds currentChassisSpeed,
ChassisSpeeds desiredChassisSpeed,
double attainableMaxModuleSpeedMetersPerSecond,
double attainableMaxTranslationalSpeedMetersPerSecond,
double attainableMaxRotationalVelocityRadiansPerSecond) {
@@ -326,10 +326,10 @@ public class SwerveDriveKinematics
return;
}
double translationalK =
Math.hypot(currentChassisSpeed.vxMetersPerSecond, currentChassisSpeed.vyMetersPerSecond)
Math.hypot(desiredChassisSpeed.vxMetersPerSecond, desiredChassisSpeed.vyMetersPerSecond)
/ attainableMaxTranslationalSpeedMetersPerSecond;
double rotationalK =
Math.abs(currentChassisSpeed.omegaRadiansPerSecond)
Math.abs(desiredChassisSpeed.omegaRadiansPerSecond)
/ attainableMaxRotationalVelocityRadiansPerSecond;
double k = Math.max(translationalK, rotationalK);
double scale = Math.min(k * attainableMaxModuleSpeedMetersPerSecond / realMaxSpeed, 1);