core/com.acmerobotics.roadrunner/MecanumKinematics

MecanumKinematics

data class MecanumKinematics @JvmOverloads constructor(val trackWidth: Double, val lateralMultiplier: Double = 1.0)

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

fun MecanumKinematics( trackWidth: Double, wheelbase: Double, lateralMultiplier: Double = 1.0)

MecanumKinematics

fun MecanumKinematics(trackWidth: Double, lateralMultiplier: Double = 1.0)

Types

WheelIncrements

data class WheelIncrements<Param>( val leftFront: DualNum<Param>, val leftBack: DualNum<Param>, val rightBack: DualNum<Param>, val rightFront: DualNum<Param>)

WheelVelConstraint

inner class WheelVelConstraint(val maxWheelVel: Double) : VelConstraint

WheelVelocities

data class WheelVelocities<Param>( val leftFront: DualNum<Param>, val leftBack: DualNum<Param>, val rightBack: DualNum<Param>, val rightFront: DualNum<Param>)

Functions

fun <Param> forward(w: MecanumKinematics.WheelIncrements<Param>): Twist2dIncrDual<Param>

fun <Param> inverse(t: Twist2dDual<Param>): MecanumKinematics.WheelVelocities<Param>

Properties

lateralMultiplier

val lateralMultiplier: Double = 1.0

val trackWidth: Double