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[wpimath] Rename ChassisSpeeds.fromDiscreteSpeeds() to discretize() (#5616)

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This better reflects what's actually going on mathematically.
This commit is contained in:
Tyler Veness
2023-09-08 20:14:59 -07:00
committed by GitHub
parent 8e05983a4a
commit a9ab08f48b
14 changed files with 101 additions and 73 deletions
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11
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -51,12 +51,11 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
units::meters_per_second_t ySpeed,
units::radians_per_second_t rot, bool fieldRelative,
units::second_t period) {
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds(frc::ChassisSpeeds::FromDiscreteSpeeds(
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot},
period));
auto wheelSpeeds = m_kinematics.ToWheelSpeeds(frc::ChassisSpeeds::Discretize(
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot},
period));
wheelSpeeds.Desaturate(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}