Struct SkidSteer 

pub struct SkidSteer { /* private fields */ }

Skid-steer (tracked or four-wheel) drive: turning by spinning each side at a different speed.

A skid-steer robot steers like a differential one, but its wheels or tracks must slip sideways to turn, so the geometric track under-predicts the turn. The standard correction is an effective track wider than the real one by a slip factor (at least one), found by calibration: commanding a yaw rate needs a larger left-right speed difference than the bare geometry suggests. With slip of one this reduces to plain differential drive.

Examples

use pamoja_kit::SkidSteer;

// Wheels 0.5 m apart that slip enough to need a 1.2x wider effective track.
let drive = SkidSteer::new(0.5, 1.2);
// Spin in place at 2 rad/s: each side runs at omega * effective_track / 2.
let (left, right) = drive.wheel_speeds(0.0, 2.0);
assert!((left + 0.6).abs() < 1e-6 && (right - 0.6).abs() < 1e-6);
// Reading the wheels back recovers the body motion.
let (linear, angular) = drive.body_motion(left, right);
assert!(linear.abs() < 1e-6 && (angular - 2.0).abs() < 1e-6);

Implementations

impl SkidSteer

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

Creates a model for wheels track apart with a given slip factor.

Arguments

• track - the distance between the left and right wheels or tracks; its magnitude is used.
• slip - how much wider the effective track is than the geometric one; its magnitude is used, and a value of zero is treated as one (no slip).

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 yaw rate, positive turning left.

Returns

(left, right), where the split uses the effective (slip-corrected) track.

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 angular divides by the effective track and is zero when that track is zero.

Trait Implementations

impl Clone for SkidSteer

fn clone(&self) -> SkidSteer

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SkidSteer

impl Debug for SkidSteer

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

Formats the value using the given formatter.