object MecanumKinematics
Mecanum drive kinematic equations. Ether's paper provides a derivation.
fun robotToWheelAccelerations(robotPoseAcceleration: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Double>
Computes the wheel accelerations corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase. |
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fun robotToWheelVelocities(robotPoseVelocity: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Double>
Computes the wheel velocities corresponding to robotPoseVelocity given the provided trackWidth and wheelBase. |
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fun wheelToRobotVelocities(wheelVelocities: List<Double>, trackWidth: Double, wheelBase: Double = trackWidth): Pose2d
Computes the robot velocity corresponding to wheelVelocities and the given drive parameters. |