SwerveDrive4KinematicsBase

class wpimath.SwerveDrive4KinematicsBase

Bases: pybind11_object

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel velocities. Robot code should not use this directly- Instead, use the particular type for your drivetrain (e.g., DifferentialDriveKinematics).

Inverse kinematics converts a desired chassis velocity into wheel velocities whereas forward kinematics converts wheel velocities into chassis velocity.

Performs interpolation between two values.

Parameters:

start – The value to start at.
end – The value to end at.
t – How far between the two values to interpolate. This should be bounded to [0, 1].

Returns:

The interpolated value.

toChassisAccelerations(wheelAccelerations: Tuple[wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration]) → wpimath._wpimath.ChassisAccelerations

Performs forward kinematics to return the resulting chassis accelerations from the wheel accelerations. This method is often used for dynamics calculations – determining the robot’s acceleration on the field using data from the real-world acceleration of each wheel on the robot.

Parameters:: wheelAccelerations – The accelerations of the wheels.
Returns:: The chassis accelerations.

toChassisVelocities(wheelVelocities: Tuple[wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity]) → wpimath._wpimath.ChassisVelocities

Performs forward kinematics to return the resulting chassis velocity from the wheel velocities. This method is often used for odometry – determining the robot’s position on the field using data from the real-world velocity of each wheel on the robot.

Parameters:: wheelVelocities – The velocities of the wheels.
Returns:: The chassis velocity.

toTwist2d(start: Tuple[wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition], end: Tuple[wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition, wpimath._wpimath.SwerveModulePosition]) → wpimath._wpimath.Twist2d

Performs forward kinematics to return the resulting Twist2d from the given change in wheel positions. This method is often used for odometry – determining the robot’s position on the field using changes in the distance driven by each wheel on the robot.

Parameters:

start – The starting distances driven by the wheels.
end – The ending distances driven by the wheels.

Returns:

The resulting Twist2d in the robot’s movement.

toWheelAccelerations(chassisAccelerations: wpimath._wpimath.ChassisAccelerations) → Tuple[wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration, wpimath._wpimath.SwerveModuleAcceleration]

Performs inverse kinematics to return the wheel accelerations from a desired chassis acceleration. This method is often used for dynamics calculations – converting desired robot accelerations into individual wheel accelerations.

Parameters:: chassisAccelerations – The desired chassis accelerations.
Returns:: The wheel accelerations.

toWheelVelocities(chassisVelocities: wpimath._wpimath.ChassisVelocities) → Tuple[wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity, wpimath._wpimath.SwerveModuleVelocity]

Performs inverse kinematics to return the wheel velocities from a desired chassis velocity. This method is often used to convert joystick values into wheel velocities.

Parameters:: chassisVelocities – The desired chassis velocity.
Returns:: The wheel velocities.