[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

2026-06-20 00:51:42 +00:00 · 2021-12-30 21:30:08 -05:00
parent 102f23bbdb
commit b8d019cdb4
44 changed files with 104 additions and 94 deletions
--- a/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -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);
 }