Struct Mecanum 

pub struct Mecanum { /* private fields */ }

Mecanum (four-wheel omnidirectional) drive: forward, sideways, and turning at once.

A mecanum base carries four wheels whose angled rollers let it strafe sideways as well as drive and turn, so it tracks a full planar Twist (vx, vy, omega). This uses the standard kinematics for the common “O” roller layout, with k = (half-wheelbase + half-track):

front_left  = vx - vy - k*omega      rear_left  = vx + vy - k*omega
front_right = vx + vy + k*omega      rear_right = vx - vy + k*omega

The forward kinematics invert these by averaging the wheels. Speeds are wheel contact speeds in the body’s units; convert to motor rates by dividing by the wheel radius.

Examples

use pamoja_kit::{Mecanum, Twist, WheelSpeeds};

// 0.4 m wheelbase, 0.3 m track.
let base = Mecanum::new(0.4, 0.3);

// Pure left strafe: the O-layout spins the diagonals against each other.
let w = base.wheel_speeds(Twist::new(0.0, 1.0, 0.0));
assert_eq!(w, WheelSpeeds { front_left: -1.0, front_right: 1.0, rear_left: 1.0, rear_right: -1.0 });

// Reading the wheels back recovers the body twist.
let t = base.body_motion(w);
assert!(t.vx.abs() < 1e-6 && (t.vy - 1.0).abs() < 1e-6 && t.omega.abs() < 1e-6);

Implementations

impl Mecanum

pub fn new(wheelbase: f32, track: f32) -> Self

Creates a model from the wheelbase and track.

Arguments

• wheelbase - the front-to-rear distance between axles; its magnitude is used.
• track - the left-to-right distance between wheels; its magnitude is used.

Returns

The kinematics model.

pub fn wheel_speeds(&self, twist: Twist) -> WheelSpeeds

Returns the four wheel speeds for a desired body twist.

Arguments

• twist - the desired body velocity, using all of vx, vy, and omega.

Returns

The WheelSpeeds that produce that twist.

pub fn body_motion(&self, wheels: WheelSpeeds) -> Twist

Returns the body twist for measured wheel speeds.

Arguments

• wheels - the four measured wheel speeds.

Returns

The body Twist; omega is zero when the base has no size (lever arm zero).

Trait Implementations

impl Clone for Mecanum

fn clone(&self) -> Mecanum

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Mecanum

impl Debug for Mecanum

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

Formats the value using the given formatter.