MecanumDriveWheelSpeeds.h

Go to the documentation of this file.

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <wpi/SymbolExports.h>
 
#include "units/velocity.h"
 
namespace frc {
/**
 * Represents the wheel speeds for a mecanum drive drivetrain.
 */
struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
  /**
   * Speed of the front-left wheel.
   */
  units::meters_per_second_t frontLeft = 0_mps;
 
  /**
   * Speed of the front-right wheel.
   */
  units::meters_per_second_t frontRight = 0_mps;
 
  /**
   * Speed of the rear-left wheel.
   */
  units::meters_per_second_t rearLeft = 0_mps;
 
  /**
   * Speed of the rear-right wheel.
   */
  units::meters_per_second_t rearRight = 0_mps;
 
  /**
   * Renormalizes the wheel speeds if any individual speed is above the
   * specified maximum.
   *
   * Sometimes, after inverse kinematics, the requested speed from one or
   * more wheels may be above the max attainable speed for the driving motor on
   * that wheel. To fix this issue, one can reduce all the wheel speeds to make
   * sure that all requested module speeds are at-or-below the absolute
   * threshold, while maintaining the ratio of speeds between wheels.
   *
   * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
   */
  void Desaturate(units::meters_per_second_t attainableMaxSpeed);
};
}  // namespace frc