Kinematics

A collection of methods for various kinematics-related tasks.

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.

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.

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.