SwerveDrive4KinematicsBase
- class wpimath.kinematics.SwerveDrive4KinematicsBase
Bases:
pybind11_object
Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. Robot code should not use this directly- Instead, use the particular type for your drivetrain (e.g., DifferentialDriveKinematics).
Inverse kinematics converts a desired chassis speed into wheel speeds whereas forward kinematics converts wheel speeds into chassis speed.
- toChassisSpeeds(wheelSpeeds: Tuple[wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState]) wpimath.kinematics._kinematics.ChassisSpeeds
Performs forward kinematics to return the resulting chassis speed from the wheel speeds. This method is often used for odometry – determining the robot’s position on the field using data from the real-world speed of each wheel on the robot.
- Parameters:
wheelSpeeds – The speeds of the wheels.
- Returns:
The chassis speed.
- toTwist2d(start: wpimath.kinematics._kinematics.SwerveDrive4WheelPositions, end: wpimath.kinematics._kinematics.SwerveDrive4WheelPositions) wpimath.geometry._geometry.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.
- toWheelSpeeds(chassisSpeeds: wpimath.kinematics._kinematics.ChassisSpeeds) Tuple[wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState, wpimath.kinematics._kinematics.SwerveModuleState]
Performs inverse kinematics to return the wheel speeds from a desired chassis velocity. This method is often used to convert joystick values into wheel speeds.
- Parameters:
chassisSpeeds – The desired chassis speed.
- Returns:
The wheel speeds.