ChassisAccelerations

class wpimath.ChassisAccelerations(ax: wpimath.units.meters_per_second_squared = 0, ay: wpimath.units.meters_per_second_squared = 0, alpha: wpimath.units.radians_per_second_squared = 0)

Bases: pybind11_object

Represents robot chassis accelerations.

A strictly non-holonomic drivetrain, such as a differential drive, should never have an ay component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.

WPIStruct = <capsule object "WPyStruct">

property alpha_dpss

property ax_fpss

property ay_fpss

static fromFps(ax: wpimath.units.feet_per_second_squared = 0, ay: wpimath.units.feet_per_second_squared = 0, alpha: wpimath.units.radians_per_second_squared = 0) → wpimath._wpimath.ChassisAccelerations

toFieldRelative(robotAngle: wpimath._wpimath.Rotation2d) → wpimath._wpimath.ChassisAccelerations

Converts this robot-relative set of accelerations into a field-relative ChassisAccelerations object.

Parameters:

robotAngle – The angle of the robot as measured by a gyroscope. The robot’s angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns:

ChassisAccelerations object representing the accelerations in the field’s frame of reference.

toRobotRelative(robotAngle: wpimath._wpimath.Rotation2d) → wpimath._wpimath.ChassisAccelerations

Converts this field-relative set of accelerations into a robot-relative ChassisAccelerations object.

Parameters:

robotAngle – The angle of the robot as measured by a gyroscope. The robot’s angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns:

ChassisAccelerations object representing the accelerations in the robot’s frame of reference.