DifferentialDriveWheelSpeeds (WPILib API 2022.1.1)

java.lang.Object

edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds

public class DifferentialDriveWheelSpeeds
extends Object

Represents the wheel speeds for a differential drive drivetrain.

Field Summary

Fields

Modifier and Type Field Description

double leftMetersPerSecond
Speed of the left side of the robot.

double rightMetersPerSecond
Speed of the right side of the robot.

Constructor Summary

Constructors
Constructor	Description
`DifferentialDriveWheelSpeeds()`	Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds.
`DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond)`	Constructs a DifferentialDriveWheelSpeeds.

Method Summary

Modifier and Type	Method	Description
`void`	`desaturate(double attainableMaxSpeedMetersPerSecond)`	Renormalizes the wheel speeds if any either side 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
- leftMetersPerSecond
  
  public double leftMetersPerSecond
  
  Speed of the left side of the robot.
- rightMetersPerSecond
  
  public double rightMetersPerSecond
  
  Speed of the right side of the robot.
Constructor Details
- DifferentialDriveWheelSpeeds
  
  public DifferentialDriveWheelSpeeds()
  
  Constructs a DifferentialDriveWheelSpeeds with zeros for left and right speeds.
- DifferentialDriveWheelSpeeds
  
  public DifferentialDriveWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond)
  
  Constructs a DifferentialDriveWheelSpeeds.
  
  Parameters:
  
  leftMetersPerSecond - The left speed.
  
  rightMetersPerSecond - The right speed.
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.
  
  Parameters:
  
  attainableMaxSpeedMetersPerSecond - The absolute max speed that a wheel can reach.
- toString
  
  public String toString()
  
  Overrides:
  
  toString in class Object