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pamoja_diff_drive_body_motion

pamoja_ffi::motion

Function pamoja_diff_drive_body_motion 

Source 
#[unsafe(no_mangle)]
pub extern "C" fn pamoja_diff_drive_body_motion(
    drive: PamojaDiffDrive,
    left: f32,
    right: f32,
) -> PamojaBodyMotion
Expand description

Returns the body motion a differential drive makes from measured wheel speeds.

§Arguments

  • drive - the drive.
  • left - the left wheel speed.
  • right - the right wheel speed.

§Returns

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