Represents the speed of a robot chassis. More...

#include <frc/kinematics/ChassisSpeeds.h>

Static Public Member Functions
static ChassisSpeeds	FromFieldRelativeSpeeds (units::meters_per_second_t vx, units::meters_per_second_t vy, units::radians_per_second_t omega, const Rotation2d &robotAngle)
	Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object. More...

static ChassisSpeeds	FromFieldRelativeSpeeds (const ChassisSpeeds &fieldRelativeSpeeds, const Rotation2d &robotAngle)
	Converts a user provided field-relative ChassisSpeeds object into a robot-relative ChassisSpeeds object. More...

Public Attributes
units::meters_per_second_t	vx = 0_mps
	Represents forward velocity w.r.t the robot frame of reference. More...

units::meters_per_second_t	vy = 0_mps
	Represents strafe velocity w.r.t the robot frame of reference. More...

units::radians_per_second_t	omega = 0_rad_per_s
	Represents the angular velocity of the robot frame. More...

Detailed Description

Represents the speed of a robot chassis.

Although this struct contains similar members compared to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference, this ChassisSpeeds struct represents a velocity w.r.t to the robot frame of reference.

A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.

Member Function Documentation

◆ FromFieldRelativeSpeeds() [1/2]

static ChassisSpeeds frc::ChassisSpeeds::FromFieldRelativeSpeeds	(	const ChassisSpeeds &	fieldRelativeSpeeds,
		const Rotation2d &	robotAngle
	)

inlinestatic

Converts a user provided field-relative ChassisSpeeds object into a robot-relative ChassisSpeeds object.

Parameters

fieldRelativeSpeeds	The ChassisSpeeds object representing the speeds in the field frame of reference. Positive x is away from your alliance wall. Positive y is to your left when standing behind the alliance wall.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the robot's frame of reference.

◆ FromFieldRelativeSpeeds() [2/2]

static ChassisSpeeds frc::ChassisSpeeds::FromFieldRelativeSpeeds	(	units::meters_per_second_t	vx,
		units::meters_per_second_t	vy,
		units::radians_per_second_t	omega,
		const Rotation2d &	robotAngle
	)

inlinestatic

Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object.

Parameters

vx	The component of speed in the x direction relative to the field. Positive x is away from your alliance wall.
vy	The component of speed in the y direction relative to the field. Positive y is to your left when standing behind the alliance wall.
omega	The angular rate of the robot.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the robot's frame of reference.

Member Data Documentation

◆ omega

units::radians_per_second_t frc::ChassisSpeeds::omega = 0_rad_per_s

Represents the angular velocity of the robot frame.

(CCW is +)

◆ vx

units::meters_per_second_t frc::ChassisSpeeds::vx = 0_mps

Represents forward velocity w.r.t the robot frame of reference.

(Fwd is +)

◆ vy

units::meters_per_second_t frc::ChassisSpeeds::vy = 0_mps

Represents strafe velocity w.r.t the robot frame of reference.

(Left is +)

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

frc/kinematics/ChassisSpeeds.h

Static Public Member Functions

Public Attributes