core/gay.zharel.hermes.kinematics/WheelVelocities

WheelVelocities

interface WheelVelocities<Param : DualParameter>

Represents the velocities of the individual drive wheels.

Functions

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abstract fun all(): List<DualNum<Param>>

Returns a list of all wheel velocities. The order should be consistent for a given implementation.

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abstract fun desaturate(maxPhysicalSpeed: Double): WheelVelocities<Param>

Desaturates wheel velocities to ensure none exceed the maximum physical speed.