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[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

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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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19
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -114,7 +114,7 @@ class SwerveDriveKinematics {
* @return An array containing the module states. Use caution because these
* module states are not normalized. Sometimes, a user input may cause one of
* the module speeds to go above the attainable max velocity. Use the
* NormalizeWheelSpeeds(wpi::array<SwerveModuleState, NumModules>*,
* DesaturateWheelSpeeds(wpi::array<SwerveModuleState, NumModules>*,
* units::meters_per_second_t) function to rectify this issue. In addition,
* you can leverage the power of C++17 to directly assign the module states to
* variables:
@@ -159,18 +159,21 @@ class SwerveDriveKinematics {
wpi::array<SwerveModuleState, NumModules> moduleStates) const;
/**
* Normalizes the wheel speeds using some max attainable speed. Sometimes,
* after inverse kinematics, the requested speed from a/several modules may be
* above the max attainable speed for the driving motor on that module. To fix
* this issue, one can "normalize" all the wheel speeds to make sure that all
* requested module speeds are below the absolute threshold, while maintaining
* the ratio of speeds between modules.
* Renormalizes the wheel speeds if any individual speed is above the
* specified maximum.
*
* Sometimes, after inverse kinematics, the requested speed
* from one or more modules may be above the max attainable speed for the
* driving motor on that module. To fix this issue, one can reduce all the
* wheel speeds to make sure that all requested module speeds are at-or-below
* the absolute threshold, while maintaining the ratio of speeds between
* modules.
*
* @param moduleStates Reference to array of module states. The array will be
* mutated with the normalized speeds!
* @param attainableMaxSpeed The absolute max speed that a module can reach.
*/
static void NormalizeWheelSpeeds(
static void DesaturateWheelSpeeds(
wpi::array<SwerveModuleState, NumModules>* moduleStates,
units::meters_per_second_t attainableMaxSpeed);