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9bd9656871
I left "free speed" alone since that's the technical term for it. In general, velocity is a vector quantity, and speed is a magnitude (i.e., a strictly positive value). This PR also replaces the speed verbiage in MotorController with duty cycle. Fixes #8423.
56 lines
2.4 KiB
YAML
56 lines
2.4 KiB
YAML
extra_includes:
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- wpystruct.h
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classes:
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wpi::math::MecanumDriveKinematics:
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methods:
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MecanumDriveKinematics:
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ToWheelVelocities:
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doc: |
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Performs inverse kinematics to return the wheel velocities from a desired
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chassis velocity. This method is often used to convert joystick values into
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wheel velocities.
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This function also supports variable centers of rotation. During normal
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operations, the center of rotation is usually the same as the physical
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center of the robot; therefore, the argument is defaulted to that use case.
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However, if you wish to change the center of rotation for evasive
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maneuvers, vision alignment, or for any other use case, you can do so.
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:param chassisVelocities: The desired chassis velocity.
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:param centerOfRotation: The center of rotation. For example, if you set the
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center of rotation at one corner of the robot and
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provide a chassis velocity that only has a dtheta
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component, the robot will rotate around that
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corner.
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:returns: The wheel velocities. Use caution because they are not normalized.
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Sometimes, a user input may cause one of the wheel velocities to go
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above the attainable max velocity. Use the
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:meth:`MecanumDriveWheelVelocities.normalize` method to rectify
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this issue. In addition, you can use Python unpacking syntax
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to directly assign the wheel velocities to variables::
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fl, fr, bl, br = kinematics.toWheelVelocities(chassisVelocities)
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overloads:
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const ChassisVelocities&, const Translation2d& [const]:
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const ChassisVelocities& [const]:
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ToChassisVelocities:
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ToTwist2d:
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overloads:
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const MecanumDriveWheelPositions&, const MecanumDriveWheelPositions& [const]:
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const MecanumDriveWheelPositions& [const]:
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GetFrontLeft:
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GetFrontRight:
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GetRearLeft:
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GetRearRight:
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Interpolate:
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ToChassisAccelerations:
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ToWheelAccelerations:
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overloads:
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const ChassisAccelerations&, const Translation2d& [const]:
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const ChassisAccelerations& [const]:
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inline_code: |
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SetupWPyStruct<wpi::math::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
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