core / com.acmerobotics.roadrunner.kinematics / TankKinematics / robotToWheelAccelerations

robotToWheelAccelerations

@JvmStatic fun robotToWheelAccelerations(robotAccel: Pose2d, trackWidth: Double): List<Double> (source)

Computes the wheel accelerations corresponding to robotAccel given trackWidth.

Parameters

robotAccel - velocity of the robot in its reference frame

trackWidth - lateral distance between pairs of wheels on different sides of the robot