DifferentialDriveWheelSpeeds.h

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// 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 differential drive drivetrain.
 */
struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
  /**
   * Speed of the left side of the robot.
   */
  units::meters_per_second_t left = 0_mps;
 
  /**
   * Speed of the right side of the robot.
   */
  units::meters_per_second_t right = 0_mps;
 
  /**
   * Renormalizes the wheel speeds if either side 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