core/com.acmerobotics.roadrunner.control/MecanumKinematics/MecanumKinematics

MecanumKinematics

constructor(trackWidth: Double, wheelbase: Double, lateralMultiplier: Double = 1.0)

Parameters

wheelbase

distance between wheels on the same side; see the diagram in MecanumKinematics

@JvmOverloads
constructor(trackWidth: Double, lateralMultiplier: Double = 1.0)

Parameters

trackWidth

distance between wheels on opposite sides; see the diagram below Wheelbase and track width diagram

lateralMultiplier

factor that multiplies strafe velocity to compensate for slip; increase it to boost the distance traveled in the strafe direction