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 → wpimath.units.meters_per_second

Speed of the front-left wheel.

property frontLeft_fps

property frontRight → wpimath.units.meters_per_second

Speed of the front-right wheel.

property frontRight_fps

property rearLeft → wpimath.units.meters_per_second

Speed of the rear-left wheel.

property rearLeft_fps

property rearRight → wpimath.units.meters_per_second

Speed of the rear-right wheel.

property rearRight_fps