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[wpimath] MecanumDriveWheelSpeeds: Fix desaturate() (#6040)

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This commit is contained in:
Gold856
2023-12-14 23:52:45 -05:00
committed by GitHub
parent 8798700cec
commit f87c64af8a
4 changed files with 31 additions and 10 deletions
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4
wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
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@@ -16,10 +16,10 @@ void MecanumDriveWheelSpeeds::Desaturate(
units::meters_per_second_t attainableMaxSpeed) {
std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
rearLeft, rearRight};
units::meters_per_second_t realMaxSpeed = *std::max_element(
units::meters_per_second_t realMaxSpeed = units::math::abs(*std::max_element(
wheelSpeeds.begin(), wheelSpeeds.end(), [](const auto& a, const auto& b) {
return units::math::abs(a) < units::math::abs(b);
});
}));
if (realMaxSpeed > attainableMaxSpeed) {
for (int i = 0; i < 4; ++i) {