Package edu.wpi.first.math.kinematics
Interface Kinematics<S,P>
 Type Parameters:
S
 The type of the wheel speeds.P
 The type of the wheel positions.
 All Known Implementing Classes:
DifferentialDriveKinematics
,MecanumDriveKinematics
,SwerveDriveKinematics
public interface Kinematics<S,P>
Helper class that converts a chassis velocity (dx and dtheta components) into wheel speeds. Robot
code should not use this directly Instead, use the particular type for your drivetrain (e.g.,
DifferentialDriveKinematics
).
Method Summary
Modifier and Type Method Description ChassisSpeeds
toChassisSpeeds(S wheelSpeeds)
Performs forward kinematics to return the resulting chassis speed from the wheel speeds.Twist2d
toTwist2d(P start, P end)
Performs forward kinematics to return the resulting Twist2d from the given change in wheel positions.S
toWheelSpeeds(ChassisSpeeds chassisSpeeds)
Performs inverse kinematics to return the wheel speeds from a desired chassis velocity.

Method Details

toChassisSpeeds
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 realworld speed of each wheel on the robot. Parameters:
wheelSpeeds
 The speeds of the wheels. Returns:
 The chassis speed.

toWheelSpeeds
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.

toTwist2d
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.
