@JvmStatic @JvmOverloads fun robotToWheelVelocities(robotVel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0): List<Double> (source)
Computes the wheel velocities corresponding to robotVel given the provided trackWidth and wheelBase.
robotVel - velocity of the robot in its reference frame
trackWidth - lateral distance between pairs of wheels on different sides of the robot
wheelBase - distance between pairs of wheels on the same side of the robot
lateralMultiplier - multiplicative gain to adjust for systematic, proportional lateral error (gain greater
than 1.0 corresponds to overcompensation).