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WPILibC++ 2027.0.0-alpha-2
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WPILibC++ 2027.0.0-alpha-2
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Represents the speed of a robot chassis. More...
#include <frc/kinematics/ChassisSpeeds.h>
Public Member Functions | |
| constexpr Twist2d | ToTwist2d (units::second_t dt) const |
| Creates a Twist2d from ChassisSpeeds. | |
| constexpr ChassisSpeeds | Discretize (units::second_t dt) const |
| Discretizes a continuous-time chassis speed. | |
| constexpr ChassisSpeeds | ToRobotRelative (const Rotation2d &robotAngle) const |
| Converts this field-relative set of speeds into a robot-relative ChassisSpeeds object. | |
| constexpr ChassisSpeeds | ToFieldRelative (const Rotation2d &robotAngle) const |
| Converts this robot-relative set of speeds into a field-relative ChassisSpeeds object. | |
| constexpr ChassisSpeeds | operator+ (const ChassisSpeeds &other) const |
| Adds two ChassisSpeeds and returns the sum. | |
| constexpr ChassisSpeeds | operator- (const ChassisSpeeds &other) const |
| Subtracts the other ChassisSpeeds from the current ChassisSpeeds and returns the difference. | |
| constexpr ChassisSpeeds | operator- () const |
| Returns the inverse of the current ChassisSpeeds. | |
| constexpr ChassisSpeeds | operator* (double scalar) const |
| Multiplies the ChassisSpeeds by a scalar and returns the new ChassisSpeeds. | |
| constexpr ChassisSpeeds | operator/ (double scalar) const |
| Divides the ChassisSpeeds by a scalar and returns the new ChassisSpeeds. | |
| constexpr bool | operator== (const ChassisSpeeds &other) const =default |
| Compares the ChassisSpeeds with another ChassisSpeed. | |
Public Attributes | |
| units::meters_per_second_t | vx = 0_mps |
| Velocity along the x-axis. | |
| units::meters_per_second_t | vy = 0_mps |
| Velocity along the y-axis. | |
| units::radians_per_second_t | omega = 0_rad_per_s |
| Represents the angular velocity of the robot frame. | |
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, a ChassisSpeeds struct represents a robot's velocity.
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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inlineconstexpr |
Discretizes a continuous-time chassis speed.
This function converts a continuous-time chassis speed into a discrete-time one such that when the discrete-time chassis speed is applied for one timestep, the robot moves as if the velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt along the y-axis, and omega * dt around the z-axis).
This is useful for compensating for translational skew when translating and rotating a holonomic (swerve or mecanum) drivetrain. However, scaling down the ChassisSpeeds after discretizing (e.g., when desaturating swerve module speeds) rotates the direction of net motion in the opposite direction of rotational velocity, introducing a different translational skew which is not accounted for by discretization.
| dt | The duration of the timestep the speeds should be applied for. |
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inlineconstexpr |
Multiplies the ChassisSpeeds by a scalar and returns the new ChassisSpeeds.
For example, ChassisSpeeds{2.0, 2.5, 1.0} * 2 = ChassisSpeeds{4.0, 5.0, 1.0}
| scalar | The scalar to multiply by. |
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inlineconstexpr |
Adds two ChassisSpeeds and returns the sum.
For example, ChassisSpeeds{1.0, 0.5, 1.5} + ChassisSpeeds{2.0, 1.5, 0.5} = ChassisSpeeds{3.0, 2.0, 2.0}
| other | The ChassisSpeeds to add. |
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inlineconstexpr |
Returns the inverse of the current ChassisSpeeds.
This is equivalent to negating all components of the ChassisSpeeds.
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inlineconstexpr |
Subtracts the other ChassisSpeeds from the current ChassisSpeeds and returns the difference.
For example, ChassisSpeeds{5.0, 4.0, 2.0} - ChassisSpeeds{1.0, 2.0, 1.0} = ChassisSpeeds{4.0, 2.0, 1.0}
| other | The ChassisSpeeds to subtract. |
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inlineconstexpr |
Divides the ChassisSpeeds by a scalar and returns the new ChassisSpeeds.
For example, ChassisSpeeds{2.0, 2.5, 1.0} / 2 = ChassisSpeeds{1.0, 1.25, 0.5}
| scalar | The scalar to divide by. |
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constexprdefault |
Compares the ChassisSpeeds with another ChassisSpeed.
| other | The other ChassisSpeeds. |
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inlineconstexpr |
Converts this robot-relative set of speeds into a field-relative ChassisSpeeds object.
| 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. |
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inlineconstexpr |
Converts this field-relative set of speeds into a robot-relative ChassisSpeeds object.
| 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. |
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inlineconstexpr |
| 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 |
Velocity along the x-axis.
(Fwd is +)
| units::meters_per_second_t frc::ChassisSpeeds::vy = 0_mps |
Velocity along the y-axis.
(Left is +)
1.12.0