core / com.acmerobotics.roadrunner.drive / SwerveDrive / <init>

<init>

SwerveDrive(kV: Double, kA: Double, kStatic: Double, trackWidth: Double, wheelBase: Double = trackWidth)

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

Parameters

kV - velocity feedforward

kA - acceleration feedforward

kStatic - additive constant feedforward

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