frc::MecanumDriveWheelSpeeds Struct Reference

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

#include <frc/kinematics/MecanumDriveWheelSpeeds.h>

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

Public Attributes
units::meters_per_second_t	frontLeft = 0_mps
	Speed of the front-left wheel. More...
units::meters_per_second_t	frontRight = 0_mps
	Speed of the front-right wheel. More...
units::meters_per_second_t	rearLeft = 0_mps
	Speed of the rear-left wheel. More...
units::meters_per_second_t	rearRight = 0_mps
	Speed of the rear-right wheel. More...

Detailed Description

Represents the wheel speeds for a mecanum drive drivetrain.

Member Function Documentation

Desaturate()

void frc::MecanumDriveWheelSpeeds::Desaturate

(

units::meters_per_second_t

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.

operator*()

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

inlineconstexpr

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.

operator+()

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

inlineconstexpr

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.

operator-() [1/2]

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

inlineconstexpr

Returns the inverse of the current MecanumDriveWheelSpeeds.

This is equivalent to negating all components of the MecanumDriveWheelSpeeds.

Returns

The inverse of the current MecanumDriveWheelSpeeds.

operator-() [2/2]

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

inlineconstexpr

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.

operator/()

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

inlineconstexpr

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.

Member Data Documentation

frontLeft

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::frontLeft = 0_mps

Speed of the front-left wheel.

frontRight

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::frontRight = 0_mps

Speed of the front-right wheel.

rearLeft

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::rearLeft = 0_mps

Speed of the rear-left wheel.

rearRight

units::meters_per_second_t frc::MecanumDriveWheelSpeeds::rearRight = 0_mps

Speed of the rear-right wheel.

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

• frc/kinematics/MecanumDriveWheelSpeeds.h