core/com.acmerobotics.roadrunner.control/MecanumKinematics

MecanumKinematics

data class MecanumKinematics(val trackWidth: <Error class: unknown class>, val lateralMultiplier: <Error class: unknown class> = 1.0) : RobotKinematics<MecanumKinematics.MecanumWheelIncrements<*>, WheelVelocities<*>>

Parameters

trackWidth

distance between wheels on opposite sides; see the diagram below Wheelbase and track width diagram

lateralMultiplier

factor that multiplies strafe velocity to compensate for slip; increase it to boost the distance traveled in the strafe direction

Constructors

MecanumKinematics

constructor(trackWidth: <Error class: unknown class>, wheelbase: <Error class: unknown class>, lateralMultiplier: <Error class: unknown class> = 1.0)

constructor(trackWidth: <Error class: unknown class>, lateralMultiplier: <Error class: unknown class> = 1.0)

Types

MecanumWheelIncrements

data class MecanumWheelIncrements<Param>(val leftFront: <Error class: unknown class><Param>, val leftBack: <Error class: unknown class><Param>, val rightBack: <Error class: unknown class><Param>, val rightFront: <Error class: unknown class><Param>)

MecanumWheelVelocities

data class MecanumWheelVelocities<Param>(val leftFront: <Error class: unknown class><Param>, val leftBack: <Error class: unknown class><Param>, val rightBack: <Error class: unknown class><Param>, val rightFront: <Error class: unknown class><Param>)

Properties

lateralMultiplier

val lateralMultiplier: <Error class: unknown class> = 1.0

trackWidth

val trackWidth: <Error class: unknown class>

Functions

forward

open fun <Param> forward(w: MecanumKinematics.MecanumWheelIncrements<*>): <Error class: unknown class><Param>

abstract fun <Param : DualParameter> forward(w: MecanumKinematics.MecanumWheelIncrements<*>): Twist2dDual<Param>

inverse

open fun <Param> inverse(t: <Error class: unknown class><Param>): <Error class: unknown class>

abstract fun <Param : DualParameter> inverse(t: PoseVelocity2dDual<Param>): WheelVelocities<Param>

Performs inverse kinematics: computes wheel velocities required to achieve the desired robot velocity.