moduleToRobotVelocities
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.
Parameters
wheelVelocities
wheel velocities (or wheel position deltas)
moduleOrientations
module orientations
trackWidth
lateral distance between pairs of modules on different sides of the robot
wheelBase
distance between pairs of modules on the same side of the robot
fun moduleToRobotVelocities(wheelVelocities: List<Double>, moduleOrientations: List<Angle>, modulePositions: List<Vector2d>): Pose2d
Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.
Parameters
wheelVelocities
wheel velocities (or wheel position deltas)
moduleOrientations
module orientations
modulePositions
the positions of all the modules relative to the center of rotation of the robot