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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
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -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]};