0.3.4

core/gay.zharel.hermes.kinematics

Package-level declarations

Types

MecanumKinematics

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

Kinematics for a mecanum drive train.

MotorFeedforward

data class MotorFeedforward(val kS: Double, val kV: Double, val kA: Double)

RobotKinematics

interface RobotKinematics<in WI : WheelIncrements<*>, in WV : WheelVelocities<*>>

Represents the kinematics of a robot drive train, providing methods for inverse kinematics and velocity constraints based on wheel speeds.

SwerveKinematics

data class SwerveKinematics(val modules: <Error class: unknown class><<Error class: unknown class>>) : RobotKinematics<SwerveKinematics.SwerveWheelIncrements<*>, SwerveKinematics.SwerveWheelVelocities<*>>

Kinematics for a swerve drive train.

SwerveModuleIncrements

data class SwerveModuleIncrements<Param : DualParameter>(val wheelDelta: DualNum<Param>, val angle: Double)

Represents a swerve module's change in position.

SwerveModuleState

data class SwerveModuleState<Param : DualParameter>(val velocity: DualNum<Param>, val angle: DualNum<Param>)

Represents a swerve module's state (velocity and steering angle).

data class TankKinematics(val trackWidth: <Error class: unknown class>) : RobotKinematics<TankKinematics.TankWheelIncrements<*>, TankKinematics.TankWheelVelocities<*>>

Kinematics for a tank (differential) drive train.

VoltageConstraint

class VoltageConstraint<WI : WheelIncrements<*>, WV : WheelVelocities<*>>(val kinematics: RobotKinematics<WI, WV>, val feedforward: MotorFeedforward, val maxVoltage: Double, val fallbackAccel: Double = 50.0) : AccelConstraint

WheelIncrements

interface WheelIncrements<Param : DualParameter>

WheelVelConstraint

class WheelVelConstraint<WI : WheelIncrements<*>, WV : WheelVelocities<*>>(val kinematics: RobotKinematics<WI, WV>, val maxWheelVel: Double) : VelConstraint

Velocity constraint based on maximum wheel velocities.

WheelVelocities

interface WheelVelocities<Param : DualParameter>

Represents the velocities of the individual drive wheels.