Class MecanumDriveWheelSpeeds


  • public class MecanumDriveWheelSpeeds
    extends Object
    • Field Detail

      • frontLeftMetersPerSecond

        public double frontLeftMetersPerSecond
        Speed of the front left wheel.
      • frontRightMetersPerSecond

        public double frontRightMetersPerSecond
        Speed of the front right wheel.
      • rearLeftMetersPerSecond

        public double rearLeftMetersPerSecond
        Speed of the rear left wheel.
      • rearRightMetersPerSecond

        public double rearRightMetersPerSecond
        Speed of the rear right wheel.
    • Constructor Detail

      • MecanumDriveWheelSpeeds

        public MecanumDriveWheelSpeeds()
        Constructs a MecanumDriveWheelSpeeds with zeros for all member fields.
      • MecanumDriveWheelSpeeds

        public MecanumDriveWheelSpeeds​(double frontLeftMetersPerSecond,
                                       double frontRightMetersPerSecond,
                                       double rearLeftMetersPerSecond,
                                       double rearRightMetersPerSecond)
        Constructs a MecanumDriveWheelSpeeds.
        Parameters:
        frontLeftMetersPerSecond - Speed of the front left wheel.
        frontRightMetersPerSecond - Speed of the front right wheel.
        rearLeftMetersPerSecond - Speed of the rear left wheel.
        rearRightMetersPerSecond - Speed of the rear right wheel.
    • Method Detail

      • normalize

        public void normalize​(double attainableMaxSpeedMetersPerSecond)
        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:
        attainableMaxSpeedMetersPerSecond - The absolute max speed that a wheel can reach.