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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/native/include/frc/system/LinearSystemLoop.h
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@@ -54,7 +54,7 @@ class LinearSystemLoop {
: LinearSystemLoop(
plant, controller, observer,
[=](const Eigen::Vector<double, Inputs>& u) {
return frc::NormalizeInputVector<Inputs>(u, maxVoltage.value());
return frc::DesaturateInputVector<Inputs>(u, maxVoltage.value());
},
dt) {}
@@ -99,7 +99,7 @@ class LinearSystemLoop {
KalmanFilter<States, Inputs, Outputs>& observer, units::volt_t maxVoltage)
: LinearSystemLoop(controller, feedforward, observer,
[=](const Eigen::Vector<double, Inputs>& u) {
return frc::NormalizeInputVector<Inputs>(
return frc::DesaturateInputVector<Inputs>(
u, maxVoltage.value());
}) {}