DiffSwerveKinematics
Differential swerve drive kinematic equations. 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. Note that for the differential, the wheel velocity is half the difference between the top and bottom gear velocities, and the angular velocity is the half the sum (assuming all gears are the same size).
Functions
Computes a module's orientation using the total rotation of the top and bottom gears.
Computes the robot velocities corresponding to gearRotations, gearVelocities, and trackWidth.
Computes a module's wheel velocity using the corresponding gear velocities.
Computes the gear velocities required to achieve the given wheel velocity (without changing module orientation).