Package edu.wpi.first.math.kinematics

Class MecanumDriveWheelSpeeds

java.lang.Object
edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds
All Implemented Interfaces:
ProtobufSerializable, StructSerializable, WPISerializable
public class MecanumDriveWheelSpeeds extends Object implements ProtobufSerializable, StructSerializable
Represents the wheel speeds for a mecanum drive drivetrain.

  • Field Details

    • frontLeft

      public double frontLeft
      Speed of the front left wheel in meters per second.

    • frontRight

      public double frontRight
      Speed of the front right wheel in meters per second.

    • rearLeft

      public double rearLeft
      Speed of the rear left wheel in meters per second.

    • rearRight

      public double rearRight
      Speed of the rear right wheel in meters per second.

    • proto

      public static final MecanumDriveWheelSpeedsProto proto
      MecanumDriveWheelSpeeds protobuf for serialization.

    • struct

      public static final MecanumDriveWheelSpeedsStruct struct
      MecanumDriveWheelSpeeds struct for serialization.

  • Constructor Details

    • MecanumDriveWheelSpeeds

      public MecanumDriveWheelSpeeds()
      Constructs a MecanumDriveWheelSpeeds with zeros for all member fields.

    • MecanumDriveWheelSpeeds

      public MecanumDriveWheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight)
      Constructs a MecanumDriveWheelSpeeds.
      Parameters:
      frontLeft - Speed of the front left wheel in meters per second.
      frontRight - Speed of the front right wheel in meters per second.
      rearLeft - Speed of the rear left wheel in meters per second.
      rearRight - Speed of the rear right wheel in meters per second.

    • MecanumDriveWheelSpeeds

      public MecanumDriveWheelSpeeds(LinearVelocity frontLeft, LinearVelocity frontRight, LinearVelocity rearLeft, LinearVelocity rearRight)
      Constructs a MecanumDriveWheelSpeeds.
      Parameters:
      frontLeft - Speed of the front left wheel in meters per second.
      frontRight - Speed of the front right wheel in meters per second.
      rearLeft - Speed of the rear left wheel in meters per second.
      rearRight - Speed of the rear right wheel in meters per second.

  • Method Details

    • desaturate

      public MecanumDriveWheelSpeeds desaturate(double attainableMaxSpeed)
      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:
      attainableMaxSpeed - The absolute max speed in meters per second that a wheel can reach.
      Returns:
      Desaturated MecanumDriveWheelSpeeds.

    • desaturate

      public MecanumDriveWheelSpeeds desaturate(LinearVelocity attainableMaxSpeed)
      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:
      attainableMaxSpeed - The absolute max speed that a wheel can reach.
      Returns:
      Desaturated MecanumDriveWheelSpeeds.

    • plus

      public MecanumDriveWheelSpeeds plus(MecanumDriveWheelSpeeds other)
      Adds two MecanumDriveWheelSpeeds and returns the sum.

      For example, MecanumDriveWheelSpeeds{1.0, 0.5, 2.0, 1.5} + MecanumDriveWheelSpeeds{2.0, 1.5, 0.5, 1.0} = MecanumDriveWheelSpeeds{3.0, 2.0, 2.5, 2.5}

      Parameters:
      other - The MecanumDriveWheelSpeeds to add.
      Returns:
      The sum of the MecanumDriveWheelSpeeds.

    • minus

      public MecanumDriveWheelSpeeds minus(MecanumDriveWheelSpeeds other)
      Subtracts the other MecanumDriveWheelSpeeds from the current MecanumDriveWheelSpeeds and returns the difference.

      For example, MecanumDriveWheelSpeeds{5.0, 4.0, 6.0, 2.5} - MecanumDriveWheelSpeeds{1.0, 2.0, 3.0, 0.5} = MecanumDriveWheelSpeeds{4.0, 2.0, 3.0, 2.0}

      Parameters:
      other - The MecanumDriveWheelSpeeds to subtract.
      Returns:
      The difference between the two MecanumDriveWheelSpeeds.

    • unaryMinus

      public MecanumDriveWheelSpeeds unaryMinus()
      Returns the inverse of the current MecanumDriveWheelSpeeds. This is equivalent to negating all components of the MecanumDriveWheelSpeeds.
      Returns:
      The inverse of the current MecanumDriveWheelSpeeds.

    • times

      public MecanumDriveWheelSpeeds times(double scalar)
      Multiplies the MecanumDriveWheelSpeeds by a scalar and returns the new MecanumDriveWheelSpeeds.

      For example, MecanumDriveWheelSpeeds{2.0, 2.5, 3.0, 3.5} * 2 = MecanumDriveWheelSpeeds{4.0, 5.0, 6.0, 7.0}

      Parameters:
      scalar - The scalar to multiply by.
      Returns:
      The scaled MecanumDriveWheelSpeeds.

    • div

      public MecanumDriveWheelSpeeds div(double scalar)
      Divides the MecanumDriveWheelSpeeds by a scalar and returns the new MecanumDriveWheelSpeeds.

      For example, MecanumDriveWheelSpeeds{2.0, 2.5, 1.5, 1.0} / 2 = MecanumDriveWheelSpeeds{1.0, 1.25, 0.75, 0.5}

      Parameters:
      scalar - The scalar to divide by.
      Returns:
      The scaled MecanumDriveWheelSpeeds.

    • toString

      public String toString()
      Overrides:
      toString in class Object