Struct DiffDrive 

pub struct DiffDrive { /* private fields */ }

Converts between a robot’s motion and its two wheel speeds (differential drive).

A differential-drive robot steers by spinning its left and right wheels at different speeds. This converts both ways: wheel_speeds turns a desired forward speed and turn rate into the wheel speeds to command (inverse kinematics), and body_motion turns measured wheel speeds back into the robot’s forward speed and turn rate (forward kinematics). The one parameter is the track: the distance between the wheels.

Examples

use pamoja_kit::DiffDrive;

let drive = DiffDrive::new(0.5); // wheels 0.5 apart
// Drive straight: both wheels turn at the forward speed.
assert_eq!(drive.wheel_speeds(1.0, 0.0), (1.0, 1.0));
// Spin in place: the wheels turn opposite, each at turn rate times half the track.
assert_eq!(drive.wheel_speeds(0.0, 2.0), (-0.5, 0.5));

Implementations

impl DiffDrive

pub fn new(track: f32) -> Self

Creates a model for wheels track apart.

Arguments

• track - the distance between the left and right wheels; its magnitude is used.

Returns

The kinematics model.

pub fn wheel_speeds(&self, linear: f32, angular: f32) -> (f32, f32)

Returns the (left, right) wheel speeds for a desired body motion.

Arguments

• linear - the forward speed.
• angular - the turn rate, positive turning toward the left (counter-clockwise).

Returns

(left, right), where left = linear - angular * track / 2 and right = linear + angular * track / 2.

pub fn body_motion(&self, left: f32, right: f32) -> (f32, f32)

Returns the body (linear, angular) motion for measured wheel speeds.

Arguments

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

Returns

(linear, angular), where linear = (right + left) / 2 and angular = (right - left) / track. Angular is zero when the track is zero.

Trait Implementations

impl Clone for DiffDrive

fn clone(&self) -> DiffDrive

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for DiffDrive

impl Debug for DiffDrive

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.