core

0.1.0

core/com.acmerobotics.roadrunner.control/MecanumKinematics

MecanumKinematics

data class MecanumKinematics @JvmOverloads constructor(val trackWidth: Double, val lateralMultiplier: Double = 1.0) : RobotKinematics<MecanumKinematics.MecanumWheelIncrements<*>, WheelVelocities<*>>

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

Constructors

MecanumKinematics

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

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

Types

MecanumWheelIncrements

data class MecanumWheelIncrements<Param>(val leftFront: DualNum<Param>, val leftBack: DualNum<Param>, val rightBack: DualNum<Param>, val rightFront: DualNum<Param>) : WheelIncrements<Param>

MecanumWheelVelocities

data class MecanumWheelVelocities<Param>(val leftFront: DualNum<Param>, val leftBack: DualNum<Param>, val rightBack: DualNum<Param>, val rightFront: DualNum<Param>) : WheelVelocities<Param>

Properties

lateralMultiplier

val lateralMultiplier: Double = 1.0

val trackWidth: Double

Functions

open override fun <Param> forward(w: MecanumKinematics.MecanumWheelIncrements<*>): Twist2dDual<Param>

open override fun <Param> inverse(t: PoseVelocity2dDual<Param>): MecanumKinematics.MecanumWheelVelocities<Param>

Performs inverse kinematics: computes wheel velocities required to achieve the desired robot velocity.