MecanumDrive

class wpilib.MecanumDrive(*args, **kwargs)

Bases: RobotDriveBase, Sendable

Overloaded function.

  1. __init__(self: wpilib._wpilib.MecanumDrive, front_left_motor: wpilib._wpilib.MotorController, rear_left_motor: wpilib._wpilib.MotorController, front_right_motor: wpilib._wpilib.MotorController, rear_right_motor: wpilib._wpilib.MotorController) -> None

Construct a MecanumDrive.

If a motor needs to be inverted, do so before passing it in.

Parameters:

  • front_left_motor – Front-left motor.

  • rear_left_motor – Rear-left motor.

  • front_right_motor – Front-right motor.

  • rear_right_motor – Rear-right motor.

  1. __init__(self: wpilib._wpilib.MecanumDrive, front_left_motor: collections.abc.Callable[[typing.SupportsFloat | typing.SupportsIndex], None], rear_left_motor: collections.abc.Callable[[typing.SupportsFloat | typing.SupportsIndex], None], front_right_motor: collections.abc.Callable[[typing.SupportsFloat | typing.SupportsIndex], None], rear_right_motor: collections.abc.Callable[[typing.SupportsFloat | typing.SupportsIndex], None]) -> None

Construct a MecanumDrive.

If a motor needs to be inverted, do so before passing it in.

Parameters:

  • front_left_motor – Front-left motor setter.

  • rear_left_motor – Rear-left motor setter.

  • front_right_motor – Front-right motor setter.

  • rear_right_motor – Rear-right motor setter.

class WheelVelocities

Bases: pybind11_object

Wheel velocities for a mecanum drive.

Uses normalized voltage [-1.0..1.0].

drive_cartesian(x_velocity: SupportsFloat | SupportsIndex, y_velocity: SupportsFloat | SupportsIndex, z_rotation: SupportsFloat | SupportsIndex, gyro_angle: wpimath._wpimath.Rotation2d = Rotation2d(0.000000)) → None

Drive method for Mecanum platform.

Angles are measured counterclockwise from the positive X axis. The robot’s velocity is independent from its angle or rotation rate.

Parameters:

  • x_velocity – The robot’s velocity along the X axis [-1.0..1.0]. Forward is positive.

  • y_velocity – The robot’s velocity along the Y axis [-1.0..1.0]. Left is positive.

  • z_rotation – The robot’s rotation rate around the Z axis [-1.0..1.0]. Counterclockwise is positive.

  • gyro_angle – The gyro heading around the Z axis. Use this to implement field-oriented controls.

static drive_cartesian_ik(x_velocity: SupportsFloat | SupportsIndex, y_velocity: SupportsFloat | SupportsIndex, z_rotation: SupportsFloat | SupportsIndex, gyro_angle: wpimath._wpimath.Rotation2d = Rotation2d(0.000000)) → wpilib._wpilib.MecanumDrive.WheelVelocities

Cartesian inverse kinematics for Mecanum platform.

Angles are measured counterclockwise from the positive X axis. The robot’s velocity is independent from its angle or rotation rate.

Parameters:

  • x_velocity – The robot’s velocity along the X axis [-1.0..1.0]. Forward is positive.

  • y_velocity – The robot’s velocity along the Y axis [-1.0..1.0]. Left is positive.

  • z_rotation – The robot’s rotation rate around the Z axis [-1.0..1.0]. Counterclockwise is positive.

  • gyro_angle – The gyro heading around the Z axis. Use this to implement field-oriented controls.

Returns:

Wheel velocities [-1.0..1.0].

drive_polar(magnitude: SupportsFloat | SupportsIndex, angle: wpimath._wpimath.Rotation2d, z_rotation: SupportsFloat | SupportsIndex) → None

Drive method for Mecanum platform.

Angles are measured counterclockwise from the positive X axis. The robot’s velocity is independent from its angle or rotation rate.

Parameters:

  • magnitude – The robot’s velocity at a given angle [-1.0..1.0]. Forward is positive.

  • angle – The angle around the Z axis at which the robot drives.

  • z_rotation – The robot’s rotation rate around the Z axis [-1.0..1.0]. Counterclockwise is positive.

get_description() → str
init_sendable(builder: wpiutil._wpiutil.SendableBuilder) → None
stop_motor() → None