Navigation/com.amarcolini.joos.kinematics/SwerveKinematics/getModulePositions

getModulePositions

@JvmStatic
fun getModulePositions(trackWidth: Double, wheelBase: Double): List<Vector2d>

Returns the module positions of a swerve drive with four modules in a rectangular configuration.

Parameters

trackWidth

the distance between the left and right modules

wheelBase

the distance between the front and back modules

@JvmStatic
fun getModulePositions(trackWidth: Double): List<Vector2d>

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