Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

NormalizeWheelSpeeds removed in WPI2022 #8

Open
flamespinner opened this issue Feb 12, 2022 · 0 comments
Open

NormalizeWheelSpeeds removed in WPI2022 #8

flamespinner opened this issue Feb 12, 2022 · 0 comments

Comments

@flamespinner
Copy link

flamespinner commented Feb 12, 2022 •
edited
Loading

Per WPILib Doc's 2022 Breaking Changes NormalizeWheelSpeeds has been renamed to DesaturateWheelSpeeds in SwerveDriveKinematics.

This change breaks line 188: SwerveDriveKinematics.normalizeWheelSpeeds(states, MAX_VELOCITY_METERS_PER_SECOND); in DrivetrainSubsystem.java.

This should be replaced with SwerveDriveKinematics.desaturateWheelSpeeds(states, MAX_VELOCITY_METERS_PER_SECOND); This is just a rename and from my understanding should not break how the code in the template works.
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@flamespinner