frc::DifferentialDriveWheelSpeeds Struct Reference

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

#include <frc/kinematics/DifferentialDriveWheelSpeeds.h>

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

Public Attributes
units::meters_per_second_t	left = 0_mps
	Speed of the left side of the robot. More...
units::meters_per_second_t	right = 0_mps
	Speed of the right side of the robot. More...

Detailed Description

Represents the wheel speeds for a differential drive drivetrain.

Member Function Documentation

Desaturate()

void frc::DifferentialDriveWheelSpeeds::Desaturate

(

units::meters_per_second_t

attainableMaxSpeed

)

Renormalizes the wheel speeds if 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

attainableMaxSpeed

The absolute max speed that a wheel can reach.

operator*()

constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveWheelSpeeds::operator* ( double  scalar ) const

inlineconstexpr

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

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

Parameters

scalar

The scalar to multiply by.

Returns

The scaled DifferentialDriveWheelSpeeds.

operator+()

constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveWheelSpeeds::operator+ ( const DifferentialDriveWheelSpeeds &  other ) const

inlineconstexpr

Adds two DifferentialDriveWheelSpeeds and returns the sum.

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

Parameters

other

The DifferentialDriveWheelSpeeds to add.

Returns

The sum of the DifferentialDriveWheelSpeeds.

operator-() [1/2]

constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveWheelSpeeds::operator- ( ) const

inlineconstexpr

Returns the inverse of the current DifferentialDriveWheelSpeeds.

This is equivalent to negating all components of the DifferentialDriveWheelSpeeds.

Returns

The inverse of the current DifferentialDriveWheelSpeeds.

operator-() [2/2]

constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveWheelSpeeds::operator- ( const DifferentialDriveWheelSpeeds &  other ) const

inlineconstexpr

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

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

Parameters

other

The DifferentialDriveWheelSpeeds to subtract.

Returns

The difference between the two DifferentialDriveWheelSpeeds.

operator/()

constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveWheelSpeeds::operator/ ( double  scalar ) const

inlineconstexpr

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

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

Parameters

scalar

The scalar to divide by.

Returns

The scaled DifferentialDriveWheelSpeeds.

Member Data Documentation

left

units::meters_per_second_t frc::DifferentialDriveWheelSpeeds::left = 0_mps

Speed of the left side of the robot.

right

units::meters_per_second_t frc::DifferentialDriveWheelSpeeds::right = 0_mps

Speed of the right side of the robot.

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

• frc/kinematics/DifferentialDriveWheelSpeeds.h