Navigation/com.amarcolini.joos.kinematics/SwerveKinematics

SwerveKinematics

object SwerveKinematics

Swerve drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, back left, back right, front right). 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.

Functions

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

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

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

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

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@JvmStatic
fun moduleToRobotVelocities(wheelVelocities: List<Double>, moduleOrientations: List<Angle>, modulePositions: List<Vector2d>): Pose2d
@JvmStatic
@JvmOverloads
fun moduleToRobotVelocities(wheelVelocities: List<Double>, moduleOrientations: List<Angle>, trackWidth: Double, wheelBase: Double = trackWidth): Pose2d

Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.

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@JvmStatic
fun robotToModuleAccelerationVectors(robotAccel: Pose2d, modulePositions: List<Vector2d>): List<Vector2d>

Computes the acceleration vectors corresponding to robotAccel given the provided modulePositions.

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@JvmStatic
fun robotToModuleAngularVelocities(robotVel: Pose2d, robotAccel: Pose2d, modulePositions: List<Vector2d>): List<Angle>

Computes the module angular velocities corresponding to robotAccel given the provided modulePositions.

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@JvmStatic
fun robotToModuleOrientations(robotVel: Pose2d, modulePositions: List<Vector2d>): List<Angle>

Computes the module orientations corresponding to robotVel given the provided modulePositions.

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@JvmStatic
fun robotToModuleVelocityVectors(robotVel: Pose2d, modulePositions: List<Vector2d>): List<Vector2d>

Computes the module velocity vectors corresponding to robotVel given the provided modulePositions.

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@JvmStatic
fun robotToWheelAccelerations(robotVel: Pose2d, robotAccel: Pose2d, modulePositions: List<Vector2d>): List<Double>

Computes the wheel accelerations corresponding to robotAccel given the provided modulePositions.

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@JvmStatic
fun robotToWheelVelocities(robotVel: Pose2d, modulePositions: List<Vector2d>): List<Double>

Computes the wheel velocities corresponding to robotVel given the provided modulePositions.