WPILibC++  2020.3.2
MecanumDriveWheelSpeeds.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2019 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <units/units.h>
11 
12 namespace frc {
20  units::meters_per_second_t frontLeft = 0_mps;
21 
25  units::meters_per_second_t frontRight = 0_mps;
26 
30  units::meters_per_second_t rearLeft = 0_mps;
31 
35  units::meters_per_second_t rearRight = 0_mps;
36 
47  void Normalize(units::meters_per_second_t attainableMaxSpeed);
48 };
49 } // namespace frc
frc::MecanumDriveWheelSpeeds::frontLeft
units::meters_per_second_t frontLeft
Speed of the front-left wheel.
Definition: MecanumDriveWheelSpeeds.h:20
frc::MecanumDriveWheelSpeeds::rearLeft
units::meters_per_second_t rearLeft
Speed of the rear-left wheel.
Definition: MecanumDriveWheelSpeeds.h:30
frc::MecanumDriveWheelSpeeds::rearRight
units::meters_per_second_t rearRight
Speed of the rear-right wheel.
Definition: MecanumDriveWheelSpeeds.h:35
frc::MecanumDriveWheelSpeeds
Represents the wheel speeds for a mecanum drive drivetrain.
Definition: MecanumDriveWheelSpeeds.h:16
frc::MecanumDriveWheelSpeeds::Normalize
void Normalize(units::meters_per_second_t attainableMaxSpeed)
Normalizes the wheel speeds using some max attainable speed.
frc::MecanumDriveWheelSpeeds::frontRight
units::meters_per_second_t frontRight
Speed of the front-right wheel.
Definition: MecanumDriveWheelSpeeds.h:25
frc
A class that enforces constraints on the differential drive kinematics.
Definition: SPIAccelerometerSim.h:16