robotToWheelAccelerations
fun robotToWheelAccelerations(robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0): List<Double>
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and wheelBase.
Parameters
robotAccel
acceleration of the robot in its reference frame
trackWidth
lateral distance between pairs of wheels on different sides of the robot
wheelBase
distance between pairs of wheels on the same side of the robot
lateralMultiplier
multiplicative gain to adjust for systematic, proportional lateral error (gain greater than 1.0 corresponds to overcompensation).