protected static void normalize(double wheelSpeeds[]){
  double maxMagnitude=Math.abs(wheelSpeeds[0]);
  for (int i=1; i < NUMBER_OF_MOTORS; i++) {
    double temp=Math.abs(wheelSpeeds[i]);
    if (maxMagnitude < temp)     maxMagnitude=temp;
  }
  if (maxMagnitude > 1.0) {
    for (int i=0; i < NUMBER_OF_MOTORS; i++) {
      wheelSpeeds[i]=wheelSpeeds[i] / maxMagnitude;
    }
  }
}

protected static void normalize ( double wheelSpeeds [ ] ) { double maxMagnitude = Math . abs ( wheelSpeeds [ 0 ] ) ; for ( int i = 1 ; i < NUMBER_OF_MOTORS ; i ++ ) { double temp = Math . abs ( wheelSpeeds [ i ] ) ; if ( maxMagnitude < temp ) maxMagnitude = temp ; } if ( maxMagnitude > 1.0 ) { for ( int i = 0 ; i < NUMBER_OF_MOTORS ; i ++ ) { wheelSpeeds [ i ] = wheelSpeeds [ i ] / maxMagnitude ; } } }
normalize all wheel speeds if the magnitude of any wheel is greater than 1 . 0 .
