Struct SkidSteer

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

A tracked or four-wheel drive that turns by skidding, with its track widened by a slip factor.

public readonly record struct SkidSteer : IEquatable<SkidSteer>

Implements

IEquatable<SkidSteer>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

SkidSteer(float, float)

A tracked or four-wheel drive that turns by skidding, with its track widened by a slip factor.

public SkidSteer(float Track, float Slip = 1)

Parameters

Track float

The distance between the left and right sides; its magnitude is used.

Slip float

How much wider the effective track is than the geometric one; its magnitude is used, and 0 is taken as 1.

Properties

Slip

How much wider the effective track is than the geometric one; its magnitude is used, and 0 is taken as 1.

public float Slip { get; init; }

Property Value

float

Track

The distance between the left and right sides; its magnitude is used.

public float Track { get; init; }

Property Value

float

Methods

BodyMotion(float, float)

Returns the body motion measured side speeds make.

public (float Linear, float Angular) BodyMotion(float left, float right)

Parameters

left float

The left side's speed.

right float

The right side's speed.

Returns

(float Min, float Max)

The forward speed and yaw rate; the yaw rate is 0 for a drive with no track.

WheelSpeeds(float, float)

Returns the side speeds for a forward speed and a yaw rate.

public (float Left, float Right) WheelSpeeds(float linear, float angular)

Parameters

linear float

The forward speed.

angular float

The yaw rate, positive turning left.

Returns

(float Min, float Max)

The left and right speeds, split across the slip-corrected track.