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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
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
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@@ -360,7 +360,7 @@ public class DifferentialDrivetrainSim {
* @return The normalized input.
*/
protected Matrix<N2, N1> clampInput(Matrix<N2, N1> u) {
return StateSpaceUtil.normalizeInputVector(u, RobotController.getBatteryVoltage());
return StateSpaceUtil.desaturateInputVector(u, RobotController.getBatteryVoltage());
}
/** Represents the different states of the drivetrain. */

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java
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@@ -186,6 +186,6 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
* @return The normalized input.
*/
protected Matrix<Inputs, N1> clampInput(Matrix<Inputs, N1> u) {
return StateSpaceUtil.normalizeInputVector(u, RobotController.getBatteryVoltage());
return StateSpaceUtil.desaturateInputVector(u, RobotController.getBatteryVoltage());
}
}