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[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

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This commit is contained in:
Oblarg
2021-12-30 21:30:08 -05:00
committed by GitHub
parent 102f23bbdb
commit b8d019cdb4
44 changed files with 104 additions and 94 deletions
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2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
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@@ -359,7 +359,7 @@ public class MecanumControllerCommand extends CommandBase {
m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;

2
wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
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@@ -278,7 +278,7 @@ void MecanumControllerCommand::Execute() {
m_controller.Calculate(m_pose(), m_desiredState, m_desiredRotation());
auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(targetChassisSpeeds);
targetWheelSpeeds.Normalize(m_maxWheelVelocity);
targetWheelSpeeds.Desaturate(m_maxWheelVelocity);
auto frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
auto rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;