Class DifferentialDriveKinematics

All Implemented Interfaces:

public class DifferentialDriveKinematics
extends Object
implements Kinematics<DifferentialDriveWheelSpeeds,​DifferentialDriveWheelPositions>
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.