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[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

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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/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;