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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/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;
}