KiwiKinematics

Used to compute the various physics related to the kiwi drive (Killough platform).

This was based off of MecanumKinematics and TankKinematics.

Constructors

constructor(radius: Double)

data class WheelTicks<Param>(val red: DualNum<Param>, val green: DualNum<Param>, val blue: DualNum<Param>)

Represents the amount of ticks each wheel on the drive rotated.

inner class WheelVelConstraint(maxWheelVel: Double) : VelConstraint

data class WheelVelocities<Param>(val red: DualNum<Param>, val green: DualNum<Param>, val blue: DualNum<Param>)

Represents the velocities of each wheel on the drive.

Calculates the position and rotation of the robot based off of the wheel ticks.

Calculates the velocity of each wheel from the linear and angular velocity of the robot.