Package edu.wpi.first.math.kinematics

Class DifferentialDriveWheelSpeeds

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

  • Field Details

  • 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.

    • DifferentialDriveWheelSpeeds

      public DifferentialDriveWheelSpeeds(LinearVelocity left, LinearVelocity right)
      Constructs a DifferentialDriveWheelSpeeds.
      Parameters:
      left - The left speed.
      right - 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.

    • desaturate

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

    • plus

      public DifferentialDriveWheelSpeeds plus(DifferentialDriveWheelSpeeds other)
      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.

    • minus

      public DifferentialDriveWheelSpeeds minus(DifferentialDriveWheelSpeeds other)
      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.

    • unaryMinus

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

    • times

      public DifferentialDriveWheelSpeeds times(double scalar)
      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.

    • div

      public DifferentialDriveWheelSpeeds div(double scalar)
      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.

    • toString

      public String toString()
      Overrides:
      toString in class Object