Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Rename NormalizeWheelSpeeds to DesaturateWheelSpeeds (#3791)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
View File

@@ -24,7 +24,7 @@ SwerveDriveKinematicsConstraint<NumModules>::MaxVelocity(
auto yVelocity = velocity * pose.Rotation().Sin();
auto wheelSpeeds = m_kinematics.ToSwerveModuleStates(
{xVelocity, yVelocity, velocity * curvature});
m_kinematics.NormalizeWheelSpeeds(&wheelSpeeds, m_maxSpeed);
m_kinematics.DesaturateWheelSpeeds(&wheelSpeeds, m_maxSpeed);
auto normSpeeds = m_kinematics.ToChassisSpeeds(wheelSpeeds);