Package edu.wpi.first.wpilibj.drive

Class MecanumDrive.WheelSpeeds

java.lang.Object

edu.wpi.first.wpilibj.drive.MecanumDrive.WheelSpeeds

Enclosing class:

MecanumDrive

public static class MecanumDrive.WheelSpeeds
extends Object

Wheel speeds for a mecanum drive.

Uses normalized voltage [-1.0..1.0].

Field Summary

Fields

Modifier and Type	Field	Description
double	frontLeft
double	frontRight
double	rearLeft
double	rearRight

Constructor Summary

Constructors

Constructor	Description
WheelSpeeds()	Constructs a WheelSpeeds with zeroes for all four speeds.
WheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight)	Constructs a WheelSpeeds.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

frontLeft

public double frontLeft

frontRight

public double frontRight

rearLeft

public double rearLeft

rearRight

public double rearRight

Constructor Details

WheelSpeeds

public WheelSpeeds()

Constructs a WheelSpeeds with zeroes for all four speeds.

WheelSpeeds

public WheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight)

Constructs a WheelSpeeds.

Parameters:

frontLeft - The front left speed [-1.0..1.0].

frontRight - The front right speed [-1.0..1.0].

rearLeft - The rear left speed [-1.0..1.0].

rearRight - The rear right speed [-1.0..1.0].