Class MecanumCalculator

• Defined in File mecanum_calculator.hpp

Class Documentation

class MecanumCalculator

This uses the equations from this paper https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf

Public Functions

MecanumCalculator(const Meters &horizontalWheelDistance, const Meters &verticalWheelDistance, const Meters &wheelRadius)

void setWheelSpeeds(const QuadRPM &quadDriveData)

Velocity2D getTranslation() const

Returns the movement of the robot relative to the robot.

RPM getRotation() const

Counterclockwise is positive