@JvmStatic @JvmOverloads fun wheelToRobotVelocities(wheelVelocities: List<Double>, moduleOrientations: List<Double>, trackWidth: Double, wheelBase: Double = trackWidth): Pose2d (source)
Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.
wheelVelocities - wheel velocities (or wheel position deltas)
moduleOrientations - wheel orientations (in radians)
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