Drive

Abstraction for generic robot drive motion and localization. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Kinematics

A collection of methods for various kinematics-related tasks.

Localizer

Generic interface for estimating robot pose over time.

MecanumDrive

This class provides the basic functionality of a mecanum drive using MecanumKinematics.

MecanumKinematics

Mecanum drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, rear left, rear right, front right). Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

SwerveDrive

This class provides the basic functionality of a swerve drive using SwerveKinematics.

SwerveKinematics

Swerve drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, rear left, rear right, front right). Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

TankDrive

This class provides the basic functionality of a tank/differential drive using TankKinematics.

TankKinematics

Tank drive kinematic equations based upon the unicycle model. All wheel positions and velocities are given in (left, right) tuples. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

ThreeTrackingWheelLocalizer

Localizer based on three unpowered tracking omni wheels.

TwoTrackingWheelLocalizer

Localizer based on two unpowered tracking omni wheels and an orientation sensor.