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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
wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
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@@ -8,7 +8,7 @@
using namespace frc;
void DifferentialDriveWheelSpeeds::Normalize(
void DifferentialDriveWheelSpeeds::Desaturate(
units::meters_per_second_t attainableMaxSpeed) {
auto realMaxSpeed =
units::math::max(units::math::abs(left), units::math::abs(right));

2
wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
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@@ -12,7 +12,7 @@
using namespace frc;
void MecanumDriveWheelSpeeds::Normalize(
void MecanumDriveWheelSpeeds::Desaturate(
units::meters_per_second_t attainableMaxSpeed) {
std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
rearLeft, rearRight};

2
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
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@@ -16,7 +16,7 @@ units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
units::meters_per_second_t velocity) const {
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds({velocity, 0_mps, velocity * curvature});
wheelSpeeds.Normalize(m_maxSpeed);
wheelSpeeds.Desaturate(m_maxSpeed);
return m_kinematics.ToChassisSpeeds(wheelSpeeds).vx;
}

2
wpimath/src/main/native/cpp/trajectory/constraint/MecanumDriveKinematicsConstraint.cpp
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@@ -20,7 +20,7 @@ units::meters_per_second_t MecanumDriveKinematicsConstraint::MaxVelocity(
auto yVelocity = velocity * pose.Rotation().Sin();
auto wheelSpeeds =
m_kinematics.ToWheelSpeeds({xVelocity, yVelocity, velocity * curvature});
wheelSpeeds.Normalize(m_maxSpeed);
wheelSpeeds.Desaturate(m_maxSpeed);
auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);