wpimath.kinematics Package

ChassisSpeeds(vx, vy, omega)

Represents the speed of a robot chassis.

DifferentialDriveKinematics(trackWidth)

Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive.

DifferentialDriveOdometry(gyroAngle, …)

Class for differential drive odometry.

DifferentialDriveWheelSpeeds(left, right)

Represents the wheel speeds for a differential drive drivetrain.

MecanumDriveKinematics(frontLeftWheel, …)

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds.

MecanumDriveOdometry(kinematics, gyroAngle, …)

Class for mecanum drive odometry.

MecanumDriveWheelSpeeds(frontLeft, …)

Represents the wheel speeds for a mecanum drive drivetrain.

SwerveDrive2Kinematics(arg0, arg1)

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).

SwerveDrive2Odometry(kinematics, gyroAngle, …)

Class for swerve drive odometry.

SwerveDrive3Kinematics(arg0, arg1, arg2)

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).

SwerveDrive3Odometry(kinematics, gyroAngle, …)

Class for swerve drive odometry.

SwerveDrive4Kinematics(arg0, arg1, arg2, arg3)

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).

SwerveDrive4Odometry(kinematics, gyroAngle, …)

Class for swerve drive odometry.

SwerveDrive6Kinematics(arg0, arg1, arg2, …)

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).

SwerveDrive6Odometry(kinematics, gyroAngle, …)

Class for swerve drive odometry.

SwerveModuleState(speed, angle)

Represents the state of one swerve module.