NextControl/dev.nextftc.control.drive/TankKinematics

TankKinematics

class TankKinematics : DriveKinematics<TankWheelPowers> (source)

Converts raw drive inputs into tank/differential wheel powers.

Tank/differential drivetrains are not holonomic, so they cannot strafe. Any DriveInput.y value is therefore ignored; only DriveInput.x (forward/backward) and DriveInput.rx (rotation) are used.

Constructors

TankKinematics

constructor()

Functions

calculate

open override fun calculate(input: DriveInput): TankWheelPowers

Converts input into this drivetrain's output type.