RobotPy API
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RobotPy

  • Overview

API Reference

  • WPILib API
  • NTCore API
  • CSCore API
  • Apriltag API
  • WPIMath API
    • wpimath Package
    • wpimath.controller Package
    • wpimath.estimator Package
    • wpimath.filter Package
    • wpimath.geometry Package
    • wpimath.interpolation Package
    • wpimath.kinematics Package
      • ChassisSpeeds
      • DifferentialDriveKinematics
      • DifferentialDriveKinematicsBase
      • DifferentialDriveOdometry
      • DifferentialDriveOdometryBase
      • DifferentialDriveWheelPositions
      • DifferentialDriveWheelSpeeds
      • MecanumDriveKinematics
      • MecanumDriveKinematicsBase
      • MecanumDriveOdometry
      • MecanumDriveOdometryBase
      • MecanumDriveWheelPositions
      • MecanumDriveWheelSpeeds
      • SwerveDrive2Kinematics
      • SwerveDrive2KinematicsBase
      • SwerveDrive2Odometry
      • SwerveDrive2OdometryBase
      • SwerveDrive2WheelPositions
      • SwerveDrive3Kinematics
      • SwerveDrive3KinematicsBase
      • SwerveDrive3Odometry
      • SwerveDrive3OdometryBase
      • SwerveDrive3WheelPositions
      • SwerveDrive4Kinematics
      • SwerveDrive4KinematicsBase
      • SwerveDrive4Odometry
      • SwerveDrive4OdometryBase
      • SwerveDrive4WheelPositions
      • SwerveDrive6Kinematics
      • SwerveDrive6KinematicsBase
      • SwerveDrive6Odometry
      • SwerveDrive6OdometryBase
      • SwerveDrive6WheelPositions
        • SwerveDrive6WheelPositions
      • SwerveModulePosition
      • SwerveModuleState
    • wpimath.optimization Package
    • wpimath.path Package
    • wpimath.spline Package
    • wpimath.system Package
    • wpimath.system.plant Package
    • wpimath.trajectory Package
    • wpimath.trajectory.constraint Package
    • wpimath.units Package
  • WPINet API
  • WPIUtil API
  • HAL API
  • ROMI API
  • XRP API
  • Commands API
  • Utilities API
  • PyFRC API

Third Party HW

  • NavX API
  • REVLib API
  • PathPlannerLib API
  • Phoenix5 API
  • Phoenix6 API
  • PWFusion API
RobotPy API
  • WPILib API
  • wpimath.kinematics Package
  • SwerveDrive6WheelPositions
  • Edit on GitHub

SwerveDrive6WheelPositions

class wpimath.kinematics.SwerveDrive6WheelPositions(positions: Tuple[wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition])

Bases: pybind11_object

Represents the wheel positions for a swerve drive drivetrain.

interpolate(endValue: wpimath.kinematics._kinematics.SwerveDrive6WheelPositions, t: float) → wpimath.kinematics._kinematics.SwerveDrive6WheelPositions
property positions → Tuple[wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition, wpimath.kinematics._kinematics.SwerveModulePosition]

The distances driven by the wheels.

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