Package edu.wpi.first.wpilibj.drive

Class MecanumDrive.WheelSpeeds

java.lang.Object

edu.wpi.first.wpilibj.drive.MecanumDrive.WheelSpeeds

Enclosing class:

MecanumDrive

public static class MecanumDrive.WheelSpeeds
extends Object

Wheel speeds for a mecanum drive.

Uses normalized voltage [-1.0..1.0].

Field Summary

Fields

Modifier and Type	Field	Description
double	frontLeft	Front-left wheel speed.
double	frontRight	Front-right wheel speed.
double	rearLeft	Rear-left wheel speed.
double	rearRight	Rear-right wheel speed.

Constructor Summary

Constructors

Constructor	Description
WheelSpeeds()	Constructs a WheelSpeeds with zeroes for all four speeds.
WheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight)	Constructs a WheelSpeeds.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

frontLeft

public double frontLeft

Front-left wheel speed.

frontRight

public double frontRight

Front-right wheel speed.

rearLeft

public double rearLeft

Rear-left wheel speed.

rearRight

public double rearRight

Rear-right wheel speed.

Constructor Details

WheelSpeeds

public WheelSpeeds()

Constructs a WheelSpeeds with zeroes for all four speeds.

WheelSpeeds

public WheelSpeeds(double frontLeft, double frontRight, double rearLeft, double rearRight)

Constructs a WheelSpeeds.

Parameters:

frontLeft - The front left speed [-1.0..1.0].

frontRight - The front right speed [-1.0..1.0].

rearLeft - The rear left speed [-1.0..1.0].

rearRight - The rear right speed [-1.0..1.0].