wpi::math::DifferentialDriveWheelVelocities Struct Reference

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

#include <wpi/math/kinematics/DifferentialDriveWheelVelocities.hpp>

Public Member Functions
constexpr void	Desaturate (wpi::units::meters_per_second_t attainableMaxVelocity)
	Renormalizes the wheel velocities if either side is above the specified maximum.
constexpr DifferentialDriveWheelVelocities	operator+ (const DifferentialDriveWheelVelocities &other) const
	Adds two DifferentialDriveWheelVelocities and returns the sum.
constexpr DifferentialDriveWheelVelocities	operator- (const DifferentialDriveWheelVelocities &other) const
	Subtracts the other DifferentialDriveWheelVelocities from the current DifferentialDriveWheelVelocities and returns the difference.
constexpr DifferentialDriveWheelVelocities	operator- () const
	Returns the inverse of the current DifferentialDriveWheelVelocities.
constexpr DifferentialDriveWheelVelocities	operator* (double scalar) const
	Multiplies the DifferentialDriveWheelVelocities by a scalar and returns the new DifferentialDriveWheelVelocities.
constexpr DifferentialDriveWheelVelocities	operator/ (double scalar) const
	Divides the DifferentialDriveWheelVelocities by a scalar and returns the new DifferentialDriveWheelVelocities.

Public Attributes
wpi::units::meters_per_second_t	left = 0_mps
	Velocity of the left side of the robot.
wpi::units::meters_per_second_t	right = 0_mps
	Velocity of the right side of the robot.

Detailed Description

Represents the wheel velocities for a differential drive drivetrain.

Member Function Documentation

Desaturate()

void wpi::math::DifferentialDriveWheelVelocities::Desaturate ( wpi::units::meters_per_second_t attainableMaxVelocity )

inlineconstexpr

Renormalizes the wheel velocities if either side is above the specified maximum.

Sometimes, after inverse kinematics, the requested velocity from one or more wheels may be above the max attainable velocity for the driving motor on that wheel. To fix this issue, one can reduce all the wheel velocities to make sure that all requested module velocities are at-or-below the absolute threshold, while maintaining the ratio of velocities between wheels.

Parameters

attainableMaxVelocity

The absolute max velocity that a wheel can reach.

operator*()

DifferentialDriveWheelVelocities wpi::math::DifferentialDriveWheelVelocities::operator* ( double scalar ) const

inlineconstexpr

Multiplies the DifferentialDriveWheelVelocities by a scalar and returns the new DifferentialDriveWheelVelocities.

For example, DifferentialDriveWheelVelocities{2.0, 2.5} * 2 = DifferentialDriveWheelVelocities{4.0, 5.0}

Parameters

scalar

The scalar to multiply by.

Returns

The scaled DifferentialDriveWheelVelocities.

operator+()

DifferentialDriveWheelVelocities wpi::math::DifferentialDriveWheelVelocities::operator+ ( const DifferentialDriveWheelVelocities & other ) const

inlineconstexpr

Adds two DifferentialDriveWheelVelocities and returns the sum.

For example, DifferentialDriveWheelVelocities{1.0, 0.5} + DifferentialDriveWheelVelocities{2.0, 1.5} = DifferentialDriveWheelVelocities{3.0, 2.0}

Parameters

other

The DifferentialDriveWheelVelocities to add.

Returns

The sum of the DifferentialDriveWheelVelocities.

operator-() [1/2]

DifferentialDriveWheelVelocities wpi::math::DifferentialDriveWheelVelocities::operator- ( ) const

inlineconstexpr

Returns the inverse of the current DifferentialDriveWheelVelocities.

This is equivalent to negating all components of the DifferentialDriveWheelVelocities.

Returns

The inverse of the current DifferentialDriveWheelVelocities.

operator-() [2/2]

DifferentialDriveWheelVelocities wpi::math::DifferentialDriveWheelVelocities::operator- ( const DifferentialDriveWheelVelocities & other ) const

inlineconstexpr

Subtracts the other DifferentialDriveWheelVelocities from the current DifferentialDriveWheelVelocities and returns the difference.

For example, DifferentialDriveWheelVelocities{5.0, 4.0} - DifferentialDriveWheelVelocities{1.0, 2.0} = DifferentialDriveWheelVelocities{4.0, 2.0}

Parameters

other

The DifferentialDriveWheelVelocities to subtract.

Returns

The difference between the two DifferentialDriveWheelVelocities.

operator/()

DifferentialDriveWheelVelocities wpi::math::DifferentialDriveWheelVelocities::operator/ ( double scalar ) const

inlineconstexpr

Divides the DifferentialDriveWheelVelocities by a scalar and returns the new DifferentialDriveWheelVelocities.

For example, DifferentialDriveWheelVelocities{2.0, 2.5} / 2 = DifferentialDriveWheelVelocities{1.0, 1.25}

Parameters

scalar

The scalar to divide by.

Returns

The scaled DifferentialDriveWheelVelocities.

Member Data Documentation

left

wpi::units::meters_per_second_t wpi::math::DifferentialDriveWheelVelocities::left = 0_mps

Velocity of the left side of the robot.

right

wpi::units::meters_per_second_t wpi::math::DifferentialDriveWheelVelocities::right = 0_mps

Velocity of the right side of the robot.

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

• wpi/math/kinematics/DifferentialDriveWheelVelocities.hpp