wheelToRobotVelocities

public final static Pose2d wheelToRobotVelocities(List<Double> wheelVelocities, Double trackWidth, Double wheelBase, Double lateralMultiplier)

public final static Pose2d wheelToRobotVelocities(List<Double> wheelVelocities, Double trackWidth, Double wheelBase)

public final static Pose2d wheelToRobotVelocities(List<Double> wheelVelocities, Double trackWidth)

Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.

wheelVelocities

wheel velocities (or wheel position deltas)

trackWidth

lateral distance between pairs of wheels on different sides of the robot

wheelBase

distance between pairs of wheels on the same side of the robot

lateralMultiplier

multiplicative gain to adjust for systematic, proportional lateral error (gain greater than 1.0 corresponds to overcompensation).