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

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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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4
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -271,7 +271,7 @@ class SwerveDriveKinematics
*
* @param moduleStates Reference to array of module states. The array will be
* mutated with the normalized speeds!
* @param currentChassisSpeed Current speed of the robot
* @param desiredChassisSpeed The desired speed of the robot
* @param attainableMaxModuleSpeed The absolute max speed a module can reach
* @param attainableMaxRobotTranslationSpeed The absolute max speed the robot
* can reach while translating
@@ -280,7 +280,7 @@ class SwerveDriveKinematics
*/
static void DesaturateWheelSpeeds(
wpi::array<SwerveModuleState, NumModules>* moduleStates,
ChassisSpeeds currentChassisSpeed,
ChassisSpeeds desiredChassisSpeed,
units::meters_per_second_t attainableMaxModuleSpeed,
units::meters_per_second_t attainableMaxRobotTranslationSpeed,
units::radians_per_second_t attainableMaxRobotRotationSpeed);