Class Summary Class Description ChassisSpeedsRepresents the speed of a robot chassis. DifferentialDriveKinematicsHelper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive. DifferentialDriveOdometryClass for differential drive odometry. DifferentialDriveWheelSpeedsRepresents the wheel speeds for a differential drive drivetrain. MecanumDriveKinematicsHelper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. MecanumDriveMotorVoltagesRepresents the motor voltages for a mecanum drive drivetrain. MecanumDriveOdometryClass for mecanum drive odometry. MecanumDriveWheelPositions MecanumDriveWheelSpeeds SwerveDriveKinematicsHelper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle). SwerveDriveOdometryClass for swerve drive odometry. SwerveModulePositionRepresents the state of one swerve module. SwerveModuleStateRepresents the state of one swerve module.