Struct Mecanum

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

A four-wheel mecanum base, which drives, strafes, and turns at once.

public readonly record struct Mecanum : IEquatable<Mecanum>

Implements

IEquatable<Mecanum>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

Mecanum(float, float)

A four-wheel mecanum base, which drives, strafes, and turns at once.

public Mecanum(float Wheelbase, float Track)

Parameters

Wheelbase float

The front-to-rear distance between the axles; its magnitude is used.

Track float

The left-to-right distance between the wheels; its magnitude is used.

Properties

Track

The left-to-right distance between the wheels; its magnitude is used.

public float Track { get; init; }

Property Value

float

Wheelbase

The front-to-rear distance between the axles; its magnitude is used.

public float Wheelbase { get; init; }

Property Value

float

Methods

BodyMotion(WheelSpeeds)

Returns the body twist measured wheel speeds make.

public Twist BodyMotion(WheelSpeeds wheels)

Parameters

wheels WheelSpeeds

The four measured wheel speeds.

Returns

Twist

The body twist; its yaw rate is 0 for a base with no size.

WheelSpeeds(Twist)

Returns the four wheel speeds for a body twist.

public WheelSpeeds WheelSpeeds(Twist twist)

Parameters

twist Twist

The body motion, using its forward, sideways, and yaw parts.

Returns

WheelSpeeds

The four wheel speeds.