WPILibC++  2020.3.2-60-g3011ebe
frc::DifferentialDriveKinematics Class Reference

Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. More...

#include <DifferentialDriveKinematics.h>

## Public Member Functions

DifferentialDriveKinematics (units::meter_t trackWidth)
Constructs a differential drive kinematics object. More...

constexpr ChassisSpeeds ToChassisSpeeds (const DifferentialDriveWheelSpeeds &wheelSpeeds) const
Returns a chassis speed from left and right component velocities using forward kinematics. More...

constexpr DifferentialDriveWheelSpeeds ToWheelSpeeds (const ChassisSpeeds &chassisSpeeds) const
Returns left and right component velocities from a chassis speed using inverse kinematics. More...

## Public Attributes

units::meter_t trackWidth

## Detailed Description

Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive.

Inverse kinematics converts a desired chassis speed into left and right velocity components whereas forward kinematics converts left and right component velocities into a linear and angular chassis speed.

## ◆ DifferentialDriveKinematics()

 frc::DifferentialDriveKinematics::DifferentialDriveKinematics ( units::meter_t trackWidth )
inlineexplicit

Constructs a differential drive kinematics object.

Parameters
 trackWidth The track width of the drivetrain. Theoretically, this is the distance between the left wheels and right wheels. However, the empirical value may be larger than the physical measured value due to scrubbing effects.

## ◆ ToChassisSpeeds()

 constexpr ChassisSpeeds frc::DifferentialDriveKinematics::ToChassisSpeeds ( const DifferentialDriveWheelSpeeds & wheelSpeeds ) const
inlineconstexpr

Returns a chassis speed from left and right component velocities using forward kinematics.

Parameters
 wheelSpeeds The left and right velocities.
Returns
The chassis speed.

## ◆ ToWheelSpeeds()

 constexpr DifferentialDriveWheelSpeeds frc::DifferentialDriveKinematics::ToWheelSpeeds ( const ChassisSpeeds & chassisSpeeds ) const
inlineconstexpr

Returns left and right component velocities from a chassis speed using inverse kinematics.

Parameters
 chassisSpeeds The linear and angular (dx and dtheta) components that represent the chassis' speed.
Returns
The left and right velocities.

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