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WPILibC++
2020.3.2
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Represents the wheel speeds for a differential drive drivetrain. More...
#include <DifferentialDriveWheelSpeeds.h>
Public Member Functions | |
| void | Normalize (units::meters_per_second_t attainableMaxSpeed) |
| Normalizes the wheel speeds using some max attainable speed. More... | |
Public Attributes | |
| units::meters_per_second_t | left = 0_mps |
| Speed of the left side of the robot. | |
| units::meters_per_second_t | right = 0_mps |
| Speed of the right side of the robot. | |
Represents the wheel speeds for a differential drive drivetrain.
| void frc::DifferentialDriveWheelSpeeds::Normalize | ( | units::meters_per_second_t | attainableMaxSpeed | ) |
Normalizes the wheel speeds using some max attainable speed.
Sometimes, after inverse kinematics, the requested speed from a/several modules may be above the max attainable speed for the driving motor on that module. To fix this issue, one can "normalize" all the wheel speeds to make sure that all requested module speeds are below the absolute threshold, while maintaining the ratio of speeds between modules.
| attainableMaxSpeed | The absolute max speed that a wheel can reach. |