fang::chassis::MecanumCalculator Class Reference

#include <mecanum_calculator.hpp>

Public Member Functions
	MecanumCalculator (const Meters &horizontalWheelDistance, const Meters &verticalWheelDistance, const Meters &wheelRadius)
void	setWheelSpeeds (const QuadRPM &quadDriveData)
Velocity2D	getTranslation () const
RPM	getRotation () const

Detailed Description

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

Constructor & Destructor Documentation

MecanumCalculator()

fang::chassis::MecanumCalculator::MecanumCalculator	(	const Meters &	horizontalWheelDistance,
		const Meters &	verticalWheelDistance,
		const Meters &	wheelRadius
	)

Member Function Documentation

getRotation()

RPM fang::chassis::MecanumCalculator::getRotation

(

)

const

Counterclockwise is positive

getTranslation()

Velocity2D fang::chassis::MecanumCalculator::getTranslation

(

)

const

Returns the movement of the robot relative to the robot.

setWheelSpeeds()

void fang::chassis::MecanumCalculator::setWheelSpeeds

(

const QuadRPM &

quadDriveData

)

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The documentation for this class was generated from the following files:

• fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/logic/mecanum_calculator.hpp
• fang-mcb-project/src/control/chassis/drive/holonomic/mecanum/logic/mecanum_calculator.cpp