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. 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. SwerveModuleStateRepresents the state of one swerve module.