Navigation/com.amarcolini.joos.kinematics/TankKinematics

TankKinematics

public class TankKinematics

Tank drive kinematic equations based upon the unicycle model. 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.

This page gives a motivated derivation.

Properties

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public final static TankKinematics INSTANCE

Functions

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public final static List<Double> robotToWheelAccelerations(Pose2d robotAccel, Double trackWidth)

Computes the wheel accelerations corresponding to robotAccel given trackWidth.

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

Computes the wheel velocities corresponding to robotVel given trackWidth.

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

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