Navigation/com.amarcolini.joos.kinematics/SwerveKinematics

SwerveKinematics

Swerve drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, back left, back right, front right). 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.

Properties

INSTANCE

public final static SwerveKinematics INSTANCE

Functions

getModulePositions

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

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

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.

moduleToRobotVelocities

public final static Pose2d moduleToRobotVelocities(List<Double> wheelVelocities, List<Angle> moduleOrientations, List<Vector2d> modulePositions)

@JvmOverloads()

public final static Pose2d moduleToRobotVelocities(List<Double> wheelVelocities, List<Angle> moduleOrientations, Double trackWidth)

@JvmOverloads()

public final static Pose2d moduleToRobotVelocities(List<Double> wheelVelocities, List<Angle> moduleOrientations, Double trackWidth, Double wheelBase)

Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.

robotToModuleAccelerationVectors

public final static List<Vector2d> robotToModuleAccelerationVectors(Pose2d robotAccel, List<Vector2d> modulePositions)

Computes the acceleration vectors corresponding to robotAccel given the provided modulePositions.

robotToModuleAngularVelocities

public final static List<Angle> robotToModuleAngularVelocities(Pose2d robotVel, Pose2d robotAccel, List<Vector2d> modulePositions)

Computes the module angular velocities corresponding to robotAccel given the provided modulePositions.

robotToModuleOrientations

public final static List<Angle> robotToModuleOrientations(Pose2d robotVel, List<Vector2d> modulePositions)

Computes the module orientations corresponding to robotVel given the provided modulePositions.

robotToModuleVelocityVectors

public final static List<Vector2d> robotToModuleVelocityVectors(Pose2d robotVel, List<Vector2d> modulePositions)

Computes the module velocity vectors corresponding to robotVel given the provided modulePositions.

robotToWheelAccelerations

public final static List<Double> robotToWheelAccelerations(Pose2d robotVel, Pose2d robotAccel, List<Vector2d> modulePositions)

Computes the wheel accelerations corresponding to robotAccel given the provided modulePositions.

robotToWheelVelocities

public final static List<Double> robotToWheelVelocities(Pose2d robotVel, List<Vector2d> modulePositions)

Computes the wheel velocities corresponding to robotVel given the provided modulePositions.