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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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4
wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
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@@ -153,7 +153,7 @@ public final class StateSpaceUtil {
}
/**
* Normalize all inputs if any excedes the maximum magnitude. Useful for systems such as
* Renormalize all inputs if any exceeds the maximum magnitude. Useful for systems such as
* differential drivetrains.
*
* @param u The input vector.
@@ -161,7 +161,7 @@ public final class StateSpaceUtil {
* @param <I> The number of inputs.
* @return The normalizedInput
*/
public static <I extends Num> Matrix<I, N1> normalizeInputVector(
public static <I extends Num> Matrix<I, N1> desaturateInputVector(
Matrix<I, N1> u, double maxMagnitude) {
double maxValue = u.maxAbs();
boolean isCapped = maxValue > maxMagnitude;