Class DifferentialDriveWheelSpeeds

    • Constructor Detail

      • DifferentialDriveWheelSpeeds

        public DifferentialDriveWheelSpeeds()
        Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds.
      • DifferentialDriveWheelSpeeds

        public DifferentialDriveWheelSpeeds​(double leftMetersPerSecond,
                                            double rightMetersPerSecond)
        Constructs a DifferentialDriveWheelSpeeds.
        Parameters:
        leftMetersPerSecond - The left speed.
        rightMetersPerSecond - The right speed.
    • Method Detail

      • desaturate

        public void desaturate​(double attainableMaxSpeedMetersPerSecond)
        Renormalizes the wheel speeds if any either side is above the specified maximum.

        Sometimes, after inverse kinematics, the requested speed from one or more wheels may be above the max attainable speed for the driving motor on that wheel. 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 wheels.

        Parameters:
        attainableMaxSpeedMetersPerSecond - The absolute max speed that a wheel can reach.