MecanumDriveWheelSpeeds

class wpimath.kinematics.MecanumDriveWheelSpeeds(frontLeft: wpimath.units.meters_per_second = 0, frontRight: wpimath.units.meters_per_second = 0, rearLeft: wpimath.units.meters_per_second = 0, rearRight: wpimath.units.meters_per_second = 0)

Bases: pybind11_object

Represents the wheel speeds for a mecanum drive drivetrain.

WPIStruct = <capsule object "WPyStruct">

desaturate(attainableMaxSpeed: wpimath.units.meters_per_second) → None

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.

static fromFeet(frontLeft: wpimath.units.feet_per_second, frontRight: wpimath.units.feet_per_second, rearLeft: wpimath.units.feet_per_second, rearRight: wpimath.units.feet_per_second) → wpimath.kinematics._kinematics.MecanumDriveWheelSpeeds

property frontLeft_fps

property frontRight_fps

property rearLeft_fps

property rearRight_fps