MecanumDrive

class wpilib.drive.MecanumDrive(frontLeftMotor: wpilib.interfaces._interfaces.SpeedController, rearLeftMotor: wpilib.interfaces._interfaces.SpeedController, frontRightMotor: wpilib.interfaces._interfaces.SpeedController, rearRightMotor: wpilib.interfaces._interfaces.SpeedController)

Bases: wpilib.drive._drive.RobotDriveBase, wpiutil._wpiutil.Sendable

A class for driving Mecanum drive platforms.

Mecanum drives are rectangular with one wheel on each corner. Each wheel has rollers toed in 45 degrees toward the front or back. When looking at the wheels from the top, the roller axles should form an X across the robot.

Drive base diagram:

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Each Drive() function provides different inverse kinematic relations for a
Mecanum drive robot.

The positive Y axis points ahead, the positive X axis points to the right,
and the positive Z axis points down. Rotations follow the right-hand rule, so
clockwise rotation around the Z axis is positive.

Note: the axis conventions used in this class differ from DifferentialDrive.
This may change in a future year's WPILib release.

Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
so that the full range is still used. This deadband value can be changed
with SetDeadband().

RobotDrive porting guide:
<br>DriveCartesian(double, double, double, double) is equivalent to
RobotDrive's MecanumDrive_Cartesian(double, double, double, double)
if a deadband of 0 is used, and the ySpeed and gyroAngle values are inverted
compared to RobotDrive (eg DriveCartesian(xSpeed, -ySpeed, zRotation,
-gyroAngle).
<br>DrivePolar(double, double, double) is equivalent to
RobotDrive's MecanumDrive_Polar(double, double, double) if a
deadband of 0 is used.

Construct a MecanumDrive.

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

class WheelSpeeds

Bases: pybind11_builtins.pybind11_object

Wheel speeds for a mecanum drive.

Uses normalized voltage [-1.0..1.0].

property frontLeft
property frontRight
property rearLeft
property rearRight
driveCartesian(ySpeed: float, xSpeed: float, zRotation: float, gyroAngle: float = 0.0) None

Drive method for Mecanum platform.

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

Parameters
  • ySpeed – The robot’s speed along the Y axis [-1.0..1.0]. Forward is positive.

  • xSpeed – The robot’s speed along the X axis [-1.0..1.0]. Right is positive.

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

  • gyroAngle – The current angle reading from the gyro in degrees around the Z axis. Use this to implement field-oriented controls.

static driveCartesianIK(ySpeed: float, xSpeed: float, zRotation: float, gyroAngle: float = 0.0) wpilib.drive._drive.MecanumDrive.WheelSpeeds

Cartesian inverse kinematics for Mecanum platform.

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

Parameters
  • ySpeed – The robot’s speed along the Y axis [-1.0..1.0]. Forward is positive.

  • xSpeed – The robot’s speed along the X axis [-1.0..1.0]. Right is positive.

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

  • gyroAngle – The current angle reading from the gyro in degrees around the Z axis. Use this to implement field-oriented controls.

Returns

Wheel speeds [-1.0..1.0].

drivePolar(magnitude: float, angle: float, zRotation: float) None

Drive method for Mecanum platform.

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

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

  • angle – The angle around the Z axis at which the robot drives in degrees [-180..180].

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

getDescription() str
initSendable(builder: wpiutil._wpiutil.SendableBuilder) None
stopMotor() None