From 3b08d8444f3b54f4f025d8538677f599bf85bc87 Mon Sep 17 00:00:00 2001
From: penguinencounter <49845522+penguinencounter@users.noreply.github.com>
Date: Tue, 9 Jan 2024 11:50:19 -0800
Subject: [PATCH] BUG LOCATED

---
 .../ftc/teamcode/utilities/MotorPowers.kt      | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
index dc594cba301e..5876fc7e9421 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utilities/MotorPowers.kt
@@ -30,6 +30,9 @@ data class MotorPowers(
         )
     }
 
+    /**
+     * Normalize powers. Warning: may PULL SMALL NUMBERS UP to 1.
+     */
     @JvmOverloads
     fun normalize(factor: Double = 1.0): MotorPowers {
         val den = maxOf(
@@ -41,6 +44,21 @@ data class MotorPowers(
         return (this / den) * factor
     }
 
+    /**
+     * Normalize powers if they are too large.
+     */
+    @JvmOverloads
+    fun normalNoStretch(max: Double = 1.0): MotorPowers {
+        val den = maxOf(
+            abs(frontLeft),
+            abs(frontRight),
+            abs(backLeft),
+            abs(backRight),
+            max
+        )
+        return (this / den) * max
+    }
+
     operator fun div(den: Double): MotorPowers {
         return MotorPowers(
             frontLeft / den,