Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
View File

@@ -121,7 +121,7 @@ public class Drivetrain {
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
View File

@@ -133,7 +133,7 @@ public class Drivetrain {
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
mecanumDriveWheelSpeeds.normalize(kMaxSpeed);
mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
setSpeeds(mecanumDriveWheelSpeeds);
}

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
View File

@@ -53,7 +53,7 @@ public class Drivetrain {
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
m_backLeft.setDesiredState(swerveModuleStates[2]);

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
View File

@@ -106,7 +106,7 @@ public class DriveSubsystem extends SubsystemBase {
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
SwerveDriveKinematics.normalizeWheelSpeeds(
SwerveDriveKinematics.desaturateWheelSpeeds(
swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -120,7 +120,7 @@ public class DriveSubsystem extends SubsystemBase {
* @param desiredStates The desired SwerveModule states.
*/
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.normalizeWheelSpeeds(
SwerveDriveKinematics.desaturateWheelSpeeds(
desiredStates, DriveConstants.kMaxSpeedMetersPerSecond);
m_frontLeft.setDesiredState(desiredStates[0]);
m_frontRight.setDesiredState(desiredStates[1]);

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
View File

@@ -65,7 +65,7 @@ public class Drivetrain {
fieldRelative
? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeed, ySpeed, rot, m_gyro.getRotation2d())
: new ChassisSpeeds(xSpeed, ySpeed, rot));
SwerveDriveKinematics.normalizeWheelSpeeds(swerveModuleStates, kMaxSpeed);
SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
m_frontLeft.setDesiredState(swerveModuleStates[0]);
m_frontRight.setDesiredState(swerveModuleStates[1]);
m_backLeft.setDesiredState(swerveModuleStates[2]);