Navigation/com.amarcolini.joos.kinematics/SwerveKinematics/getModulePositions

getModulePositions

public final static List<Vector2d> getModulePositions(Double trackWidth, Double wheelBase)

Returns the module positions of a swerve drive with four modules in a rectangular configuration.

Parameters

trackWidth

the distance between the left and right modules

wheelBase

the distance between the front and back modules

public final static List<Vector2d> getModulePositions(Double trackWidth)

Returns the modules positions of a swerve drive with two modules spaced trackWidth apart.