robotToWheelAccelerations
fun robotToWheelAccelerations(robotVel: Pose2d, robotAccel: Pose2d, modulePositions: List<Vector2d>): List<Double>
Computes the wheel accelerations corresponding to robotAccel given the provided modulePositions.
Parameters
robotAccel
velocity of the robot in its reference frame
modulePositions
the positions of all the modules relative to the center of rotation of the robot