object MecanumKinematics (source)
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.
This paper provides a motivated derivation.
robotToWheelAccelerations |
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and wheelBase. fun robotToWheelAccelerations(robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0): List<Double> |
robotToWheelVelocities |
Computes the wheel velocities corresponding to robotVel given the provided trackWidth and wheelBase. fun robotToWheelVelocities(robotVel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0): List<Double> |
wheelToRobotVelocities |
Computes the robot velocity corresponding to wheelVelocities and the given drive parameters. fun wheelToRobotVelocities(wheelVelocities: List<Double>, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0): Pose2d |