Class DifferentialDriveWheelSpeeds


public class DifferentialDriveWheelSpeeds
extends Object
Represents the wheel speeds for a differential drive drivetrain.
  • Field Details

  • Constructor Details

  • Method Details

    • desaturate

      public void desaturate​(double attainableMaxSpeedMetersPerSecond)
      Renormalizes the wheel speeds if any 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.

      attainableMaxSpeedMetersPerSecond - The absolute max speed that a wheel can reach.
    • toString

      public String toString()
      toString in class Object