Public Member Functions
	EuclideanToWheel (const RobotConstants_t &robot_constants)

WheelSpace_t	getWheelVelocity (EuclideanSpace_t euclidean_velocity) const

EuclideanSpace_t	getEuclideanVelocity (const WheelSpace_t &wheel_velocity) const

WheelSpace_t	rampWheelVelocity (const WheelSpace_t &current_wheel_velocity, const WheelSpace_t &target_wheel_velocity, const double &time_to_ramp)

Constructor & Destructor Documentation

◆ EuclideanToWheel()

EuclideanToWheel ( const RobotConstants_t & robot_constants )

explicit

Initializes the Euclidean velocity to wheel speed conversion matrices.

Parameters

robot_constants The constants of the robot we are computing for.

EuclideanSpace_t getEuclideanVelocity ( const WheelSpace_t & wheel_velocity ) const

Gets the Euclidean velocity from the wheel velocity.

Parameters

wheel_velocity The wheel velocity.

WheelSpace_t getWheelVelocity ( EuclideanSpace_t euclidean_velocity ) const

Gets the wheel velocity from the Euclidean velocity.

Parameters

euclidean_velocity The Euclidean velocity.

WheelSpace_t rampWheelVelocity	(	const WheelSpace_t &	current_wheel_velocity,
		const WheelSpace_t &	target_wheel_velocity,
		const double &	time_to_ramp
	)

Ramp the velocity over the given timestep and set the target velocity on the motor.

NOTE: This function has no state. Also NOTE: This function handles all electrical rpm to meters/second conversion.

Parameters

current_wheel_velocity	The current 4-wheel velocity in m/s
target_wheel_velocity	The target 4-wheel velocity m/s
time_to_ramp	The time allocated for acceleration in seconds

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