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

#include <frc/kinematics/DifferentialDriveWheelSpeeds.h>

Public Member Functions
void	Desaturate (units::meters_per_second_t attainableMaxSpeed)
	Renormalizes the wheel speeds if either side is above the specified maximum. More...

Public Attributes
units::meters_per_second_t	left = 0_mps
	Speed of the left side of the robot. More...

units::meters_per_second_t	right = 0_mps
	Speed of the right side of the robot. More...

Detailed Description

Represents the wheel speeds for a differential drive drivetrain.

Member Function Documentation

◆ Desaturate()

void frc::DifferentialDriveWheelSpeeds::Desaturate ( units::meters_per_second_t attainableMaxSpeed )

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.

Parameters

attainableMaxSpeed The absolute max speed that a wheel can reach.

Member Data Documentation

◆ left

units::meters_per_second_t frc::DifferentialDriveWheelSpeeds::left = 0_mps

Speed of the left side of the robot.

◆ right

units::meters_per_second_t frc::DifferentialDriveWheelSpeeds::right = 0_mps

Speed of the right side of the robot.

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

frc/kinematics/DifferentialDriveWheelSpeeds.h