@JvmStatic @JvmOverloads fun robotToModuleAngularVelocities(robotVel: Pose2d, robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Double> (source)
Computes the module angular velocities corresponding to robotAccel given the provided trackWidth and wheelBase.
robotAccel - 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