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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
wpilibcExamples/src/main/cpp/examples/MecanumBot/cpp/Drivetrain.cpp
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@@ -47,7 +47,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
wheelSpeeds.Normalize(kMaxSpeed);
wheelSpeeds.Desaturate(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}

2
wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -44,7 +44,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
fieldRelative ? frc::ChassisSpeeds::FromFieldRelativeSpeeds(
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
wheelSpeeds.Normalize(kMaxSpeed);
wheelSpeeds.Desaturate(kMaxSpeed);
SetSpeeds(wheelSpeeds);
}

2
wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/Drivetrain.cpp
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@@ -12,7 +12,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
m_kinematics.NormalizeWheelSpeeds(&states, kMaxSpeed);
m_kinematics.DesaturateWheelSpeeds(&states, kMaxSpeed);
auto [fl, fr, bl, br] = states;

6
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -54,7 +54,7 @@ void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
kDriveKinematics.NormalizeWheelSpeeds(&states, AutoConstants::kMaxSpeed);
kDriveKinematics.DesaturateWheelSpeeds(&states, AutoConstants::kMaxSpeed);
auto [fl, fr, bl, br] = states;
@@ -66,8 +66,8 @@ void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,
void DriveSubsystem::SetModuleStates(
wpi::array<frc::SwerveModuleState, 4> desiredStates) {
kDriveKinematics.NormalizeWheelSpeeds(&desiredStates,
AutoConstants::kMaxSpeed);
kDriveKinematics.DesaturateWheelSpeeds(&desiredStates,
AutoConstants::kMaxSpeed);
m_frontLeft.SetDesiredState(desiredStates[0]);
m_frontRight.SetDesiredState(desiredStates[1]);
m_rearLeft.SetDesiredState(desiredStates[2]);

2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -16,7 +16,7 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
xSpeed, ySpeed, rot, m_gyro.GetRotation2d())
: frc::ChassisSpeeds{xSpeed, ySpeed, rot});
m_kinematics.NormalizeWheelSpeeds(&states, kMaxSpeed);
m_kinematics.DesaturateWheelSpeeds(&states, kMaxSpeed);
auto [fl, fr, bl, br] = states;