Navigation/com.amarcolini.joos.kinematics/DiffSwerveKinematics

DiffSwerveKinematics

Differential swerve drive kinematic equations. All wheel positions and velocities are given in (left, right) tuples. Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis. Note that for the differential, the wheel velocity is half the difference between the top and bottom gear velocities, and the angular velocity is the half the sum (assuming all gears are the same size).

Properties

INSTANCE

public final static DiffSwerveKinematics INSTANCE

Functions

gearToModuleOrientation

public final static Angle gearToModuleOrientation(Angle topGearRotation, Angle bottomGearRotation)

Computes a module's orientation using the total rotation of the top and bottom gears.

gearToRobotVelocities

public final static Pose2d gearToRobotVelocities(List<Angle> gearRotations, List<Double> gearVelocities, Double trackWidth)

Computes the robot velocities corresponding to gearRotations, gearVelocities, and trackWidth.

gearToWheelVelocities

public final static Double gearToWheelVelocities(Double topGearVelocity, Double bottomGearVelocity)

Computes a module's wheel velocity using the corresponding gear velocities.

wheelToGearVelocities

public final static List<Double> wheelToGearVelocities(Double wheelVelocity)

Computes the gear velocities required to achieve the given wheel velocity (without changing module orientation).