Package swervelib.math

package swervelib.math
Mathematics for swerve drives. Original second order kinematics was developed by Team 3181 here.
  • Classes
    Class
    Description
    Matter
    Object with significant mass that needs to be taken into account.
    SwerveDriveOdometry2
    Clone of SwerveDriveOdometry except uses gyro pitch and roll to achieve a more accurate estimation.
    SwerveKinematics2
    Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis speed.
    SwerveMath
    Mathematical functions which pertain to swerve drive.
    SwerveModuleState2
    Second order kinematics swerve module state.
    SwervePoseEstimator2
    Clone of SwerveDrivePoseEstimator which takes into account gyroscope pitch and roll to achieve a more accurate estimation, originally made by Team 1466.