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pamoja_skid_steer_wheel_speeds

pamoja_ffi::motion

Function pamoja_skid_steer_wheel_speeds 

Source 
#[unsafe(no_mangle)]
pub extern "C" fn pamoja_skid_steer_wheel_speeds(
    drive: PamojaSkidSteer,
    linear: f32,
    angular: f32,
) -> PamojaSideSpeeds
Expand description

Returns the side speeds a skid-steer drive needs for a body motion.

§Arguments

  • drive - the drive.
  • linear - the forward speed.
  • angular - the yaw rate, positive turning left.

§Returns

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