gearToRobotVelocities
fun gearToRobotVelocities(gearRotations: List<Angle>, gearVelocities: List<Double>, trackWidth: Double): Pose2d
Computes the robot velocities corresponding to gearRotations, gearVelocities, and trackWidth.
Parameters
gearRotations
the total rotations of each gear
gearVelocities
the current velocities of each gear, in linear distance units
trackWidth
lateral distance between pairs of wheels on different sides of the robot