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WPILibC++
2020.3.2
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Represents the speed of a robot chassis. More...
#include <ChassisSpeeds.h>
Static Public Member Functions | |
| static ChassisSpeeds | FromFieldRelativeSpeeds (units::meters_per_second_t vx, units::meters_per_second_t vy, units::radians_per_second_t omega, const Rotation2d &robotAngle) |
| Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object. More... | |
Public Attributes | |
| units::meters_per_second_t | vx = 0_mps |
| Represents forward velocity w.r.t the robot frame of reference. More... | |
| units::meters_per_second_t | vy = 0_mps |
| Represents strafe velocity w.r.t the robot frame of reference. More... | |
| units::radians_per_second_t | omega = 0_rad_per_s |
| Represents the angular velocity of the robot frame. More... | |
Represents the speed of a robot chassis.
Although this struct contains similar members compared to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference, this ChassisSpeeds struct represents a velocity w.r.t to the robot frame of reference.
A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.
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inlinestatic |
Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object.
| vx | The component of speed in the x direction relative to the field. Positive x is away from your alliance wall. |
| vy | The component of speed in the y direction relative to the field. Positive y is to your left when standing behind the alliance wall. |
| omega | The angular rate of the robot. |
| 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. |
| units::radians_per_second_t frc::ChassisSpeeds::omega = 0_rad_per_s |
Represents the angular velocity of the robot frame.
(CCW is +)
| units::meters_per_second_t frc::ChassisSpeeds::vx = 0_mps |
Represents forward velocity w.r.t the robot frame of reference.
(Fwd is +)
| units::meters_per_second_t frc::ChassisSpeeds::vy = 0_mps |
Represents strafe velocity w.r.t the robot frame of reference.
(Left is +)