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

Represents the wheel speeds for a mecanum drive drivetrain. More...

#include <MecanumDriveWheelSpeeds.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 frontLeft = 0_mps
 Speed of the front-left wheel.
 
units::meters_per_second_t frontRight = 0_mps
 Speed of the front-right wheel.
 
units::meters_per_second_t rearLeft = 0_mps
 Speed of the rear-left wheel.
 
units::meters_per_second_t rearRight = 0_mps
 Speed of the rear-right wheel.
 

Detailed Description

Represents the wheel speeds for a mecanum drive drivetrain.

Member Function Documentation

◆ Normalize()

void frc::MecanumDriveWheelSpeeds::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: