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https://github.com/wpilibsuite/allwpilib
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ChassisAccelerations and the drivetrain acceleration types are added in both Java and C++. `ChassisAccelerations` is basically just `ChassisSpeeds` but for accelerations! `DifferentialDriveWheelAccelerations`, `MecanumDriveWheelAccelerations`, and `SwerveModuleAccelerations` are the acceleration equivalent of the drivetrain speeds types. In Java, the `Kinematics` interface now has an additional generic parameter `A` which represents the accelerations, and `toChassisAccelerations` and `toWheelAccelerations` methods, which are implemented the same way as `toChassisSpeeds` and `toWheelSpeeds`. Protobuf and struct classes were also added for all four classes in Java and C++. --------- Signed-off-by: Zach Harel <zach@zharel.me> Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>
22 lines
598 B
YAML
22 lines
598 B
YAML
extra_includes:
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- wpystruct.h
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classes:
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wpi::math::DifferentialDriveKinematics:
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attributes:
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trackwidth:
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methods:
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DifferentialDriveKinematics:
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ToChassisSpeeds:
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ToWheelSpeeds:
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ToTwist2d:
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overloads:
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const wpi::units::meter_t, const wpi::units::meter_t [const]:
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const DifferentialDriveWheelPositions&, const DifferentialDriveWheelPositions& [const]:
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Interpolate:
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ToChassisAccelerations:
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ToWheelAccelerations:
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inline_code: |
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SetupWPyStruct<wpi::math::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
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