object SwerveKinematics (source)
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.
robotToModuleAccelerationVectors |
Computes the acceleration vectors corresponding to robotAccel given the provided trackWidth and wheelBase. fun robotToModuleAccelerationVectors(robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Vector2d> |
robotToModuleAngularVelocities |
Computes the module angular velocities corresponding to robotAccel given the provided trackWidth and wheelBase. fun robotToModuleAngularVelocities(robotVel: Pose2d, robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Double> |
robotToModuleOrientations |
Computes the module orientations (in radians) corresponding to robotVel given the provided trackWidth and wheelBase. fun robotToModuleOrientations(robotVel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Double> |
robotToModuleVelocityVectors |
Computes the wheel velocity vectors corresponding to robotVel given the provided trackWidth and wheelBase. fun robotToModuleVelocityVectors(robotVel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Vector2d> |
robotToWheelAccelerations |
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and wheelBase. fun robotToWheelAccelerations(robotVel: Pose2d, robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): 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): List<Double> |
wheelToRobotVelocities |
Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters. fun wheelToRobotVelocities(wheelVelocities: List<Double>, moduleOrientations: List<Double>, trackWidth: Double, wheelBase: Double = trackWidth): Pose2d |