Package xbot.common.math.kinematics

Class DeadwheelWheelSpeeds

java.lang.Object
xbot.common.math.kinematics.DeadwheelWheelSpeeds
public class DeadwheelWheelSpeeds extends Object
Represents the wheel speeds for deadwheels.

  • Field Details

    • leftMetersPerSecond

      public double leftMetersPerSecond
      Speed of the left side of the robot.

    • rightMetersPerSecond

      public double rightMetersPerSecond
      Speed of the right side of the robot.

    • frontMetersPerSecond

      public double frontMetersPerSecond
      Speed of the right side of the robot.

    • rearMetersPerSecond

      public double rearMetersPerSecond
      Speed of the right side of the robot.

  • Constructor Details

    • DeadwheelWheelSpeeds

      public DeadwheelWheelSpeeds()
      Constructs a DeadwheelWheelSpeeds with zeros for left and right speeds.

    • DeadwheelWheelSpeeds

      public DeadwheelWheelSpeeds(double leftMetersPerSecond, double rightMetersPerSecond, double frontMetersPerSecond, double rearMetersPerSecond)
      Constructs a DifferentialDriveWheelSpeeds.
      Parameters:
      leftMetersPerSecond - The left speed.
      rightMetersPerSecond - The right speed.
      frontMetersPerSecond - The front speed.
      rearMetersPerSecond - The rear 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 DeadwheelWheelSpeeds plus(DeadwheelWheelSpeeds 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 DeadwheelWheelSpeeds minus(DeadwheelWheelSpeeds 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 DeadwheelWheelSpeeds 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 DeadwheelWheelSpeeds 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 DeadwheelWheelSpeeds 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