Fix MecanumDriveWheelSpeeds desaturate() #6040
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not accounting for negative speeds
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Does this affect the other WheelSpeeds classes? |
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No, all of them have correct implementations now. |
calcmogul
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Dec 12, 2023
wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
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wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
calcmogul
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Dec 12, 2023
wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
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calcmogul
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Dec 13, 2023
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It didn't account for negative speeds when calculating the real max speed, so now it does.