#include <robot_mecanum_logic.hpp>

Classes
struct	Config

Public Member Functions
	RobotMecanumLogic (const Config &config)

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

void	setMotion (const Velocity2D &translation, const RPM &rotation)

void	setTranslation (const Velocity2D &translation)

void	setRotation (const RPM &rotation)

const Velocity2D &	getTranslation () const

RPM	getRotation () const

QuadRPM	getWheelSpeeds () const

Constructor & Destructor Documentation

◆ RobotMecanumLogic() [1/2]

fang::chassis::RobotMecanumLogic::RobotMecanumLogic ( const Config & config )

Refer to: https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf in equation 24 The horizontalWheelDistance refers to twice as lx The verticalWheelDistance refers to twice as ly The vertical distance is parallel to the forward direction of the robot The horizontal distance is parallel to the sideways direction of the robot

◆ RobotMecanumLogic() [2/2]

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

Member Function Documentation

◆ getRotation()

RPM fang::chassis::RobotMecanumLogic::getRotation ( ) const

◆ getTranslation()

const Velocity2D & fang::chassis::RobotMecanumLogic::getTranslation ( ) const

◆ getWheelSpeeds()

QuadRPM fang::chassis::RobotMecanumLogic::getWheelSpeeds ( ) const

https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf This uses equation 20

◆ setMotion()

void fang::chassis::RobotMecanumLogic::setMotion	(	const Velocity2D &	translation,
		const RPM &	rotation
	)

Refer to https://gm0.org/en/latest/docs/software/tutorials/mecanum-drive.html The formula has been adapted so that the positive rotation is counter-clockwise. Although this is does not smoothly translate joystick movements, it is mathematically consistent with the convention that counter-clockwise. That is the main context for MecanumLogic. With the IMU being involved, it is imperative that a single rotational convention is used. And it is recommended that the mathematical ones would be the choice.

◆ setRotation()

void fang::chassis::RobotMecanumLogic::setRotation ( const RPM & rotation )

◆ setTranslation()

void fang::chassis::RobotMecanumLogic::setTranslation ( const Velocity2D & translation )

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

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

Classes

Public Member Functions