com.arcrobotics.ftclib.kinematics.wpilibkinematics

Class MecanumOdoKinematics

java.lang.Object

com.arcrobotics.ftclib.kinematics.wpilibkinematics.MecanumOdoKinematics

public class MecanumOdoKinematics
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
MecanumOdoKinematics(Translation2d frontLeftWheelMeters, Translation2d frontRightWheelMeters, Translation2d rearLeftWheelMeters, Translation2d rearRightWheelMeters, double auxDistance, double wheelbaseWidth) Constructs a mecanum drive kinematics object.

Method Summary

Modifier and Type	Method and Description
ChassisSpeeds	toChassisSpeeds(OdoWheelSpeeds wheelSpeeds) Performs forward kinematics to return the resulting chassis state from the given wheel speeds.
MecanumDriveWheelSpeeds	toWheelSpeeds(ChassisSpeeds chassisSpeeds) Performs inverse kinematics.
MecanumDriveWheelSpeeds	toWheelSpeeds(ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) Performs inverse kinematics to return the wheel speeds from a desired chassis velocity.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MecanumOdoKinematics

public MecanumOdoKinematics(Translation2d frontLeftWheelMeters,
                            Translation2d frontRightWheelMeters,
                            Translation2d rearLeftWheelMeters,
                            Translation2d rearRightWheelMeters,
                            double auxDistance,
                            double wheelbaseWidth)

Constructs a mecanum drive kinematics object.

Parameters:

frontLeftWheelMeters - The location of the front-left wheel relative to the physical center of the robot.

frontRightWheelMeters - The location of the front-right wheel relative to the physical center of the robot.

rearLeftWheelMeters - The location of the rear-left wheel relative to the physical center of the robot.

rearRightWheelMeters - The location of the rear-right wheel relative to the physical center of the robot.

Method Detail

toWheelSpeeds

public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds,
                                             Translation2d centerOfRotationMeters)

Performs inverse kinematics to return the wheel speeds from a desired chassis velocity. This method is often used to convert joystick values into wheel speeds.

This function also supports variable centers of rotation. During normal operations, the center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to that use case. However, if you wish to change the center of rotation for evasive manuevers, vision alignment, or for any other use case, you can do so.

Parameters:

chassisSpeeds - The desired chassis speed.

centerOfRotationMeters - The center of rotation. For example, if you set the center of rotation at one corner of the robot and provide a chassis speed that only has a dtheta component, the robot will rotate around that corner.

Returns:

The wheel speeds. Use caution because they are not normalized. Sometimes, a user input may cause one of the wheel speeds to go above the attainable max velocity. Use the MecanumDriveWheelSpeeds.normalize(double) function to rectify this issue.

toWheelSpeeds

public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds)

Performs inverse kinematics. See toWheelSpeeds(ChassisSpeeds, Translation2d) for more information.

Parameters:

chassisSpeeds - The desired chassis speed.

Returns:

The wheel speeds.

toChassisSpeeds

public ChassisSpeeds toChassisSpeeds(OdoWheelSpeeds wheelSpeeds)

Performs forward kinematics to return the resulting chassis state from the given wheel speeds. This method is often used for odometry -- determining the robot's position on the field using data from the real-world speed of each wheel on the robot.

Parameters:

wheelSpeeds - The current mecanum drive wheel speeds.

Returns:

The resulting chassis speed.