Package edu.wpi.first.math.kinematics

Class MecanumDriveWheelSpeeds

java.lang.Object

edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds

public class MecanumDriveWheelSpeeds
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
double	frontLeftMetersPerSecond	Speed of the front left wheel.
double	frontRightMetersPerSecond	Speed of the front right wheel.
double	rearLeftMetersPerSecond	Speed of the rear left wheel.
double	rearRightMetersPerSecond	Speed of the rear right wheel.

Constructor Summary

Constructors

Constructor	Description
MecanumDriveWheelSpeeds()	Constructs a MecanumDriveWheelSpeeds with zeros for all member fields.
MecanumDriveWheelSpeeds(double frontLeftMetersPerSecond, double frontRightMetersPerSecond, double rearLeftMetersPerSecond, double rearRightMetersPerSecond)	Constructs a MecanumDriveWheelSpeeds.

Method Summary

Modifier and Type	Method	Description
void	desaturate(double attainableMaxSpeedMetersPerSecond)	Renormalizes the wheel speeds if any individual speed is above the specified maximum.
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

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 Details

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 Details

desaturate

public void desaturate(double attainableMaxSpeedMetersPerSecond)

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.

Parameters:

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

toString

public String toString()

Overrides:

toString in class Object