Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
View File

@@ -102,7 +102,7 @@ KilloughDrive::WheelSpeeds KilloughDrive::DriveCartesianIK(double ySpeed,
wheelSpeeds[kRight] = input.ScalarProject(m_rightVec) + zRotation;
wheelSpeeds[kBack] = input.ScalarProject(m_backVec) + zRotation;
Normalize(wheelSpeeds);
Desaturate(wheelSpeeds);
return {wheelSpeeds[kLeft], wheelSpeeds[kRight], wheelSpeeds[kBack]};
}

2
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -103,7 +103,7 @@ MecanumDrive::WheelSpeeds MecanumDrive::DriveCartesianIK(double ySpeed,
wheelSpeeds[kRearLeft] = input.x - input.y + zRotation;
wheelSpeeds[kRearRight] = input.x + input.y - zRotation;
Normalize(wheelSpeeds);
Desaturate(wheelSpeeds);
return {wheelSpeeds[kFrontLeft], wheelSpeeds[kFrontRight],
wheelSpeeds[kRearLeft], wheelSpeeds[kRearRight]};

2
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
View File

@@ -35,7 +35,7 @@ double RobotDriveBase::ApplyDeadband(double value, double deadband) {
return frc::ApplyDeadband(value, deadband);
}
void RobotDriveBase::Normalize(wpi::span<double> wheelSpeeds) {
void RobotDriveBase::Desaturate(wpi::span<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {
double temp = std::abs(wheelSpeeds[i]);

4
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
View File

@@ -43,8 +43,8 @@ DifferentialDrivetrainSim::DifferentialDrivetrainSim(
Eigen::Vector<double, 2> DifferentialDrivetrainSim::ClampInput(
const Eigen::Vector<double, 2>& u) {
return frc::NormalizeInputVector<2>(u,
frc::RobotController::GetInputVoltage());
return frc::DesaturateInputVector<2>(u,
frc::RobotController::GetInputVoltage());
}
void DifferentialDrivetrainSim::SetInputs(units::volt_t leftVoltage,