WPILibC++  2020.3.2-60-g3011ebe
frc::DifferentialDriveWheelSpeeds Struct Reference

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.
 

Detailed Description

Represents the wheel speeds for a differential drive drivetrain.

Member Function Documentation

◆ Normalize()

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.

Parameters
attainableMaxSpeedThe absolute max speed that a wheel can reach.

The documentation for this struct was generated from the following file: