Inheritance diagram for edu.wpi.first.math.kinematics.ChassisSpeeds:

Public Member Functions
	ChassisSpeeds ()

	ChassisSpeeds (double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond)

	ChassisSpeeds (Measure< Velocity< Distance > > vx, Measure< Velocity< Distance > > vy, Measure< Velocity< Angle > > omega)

ChassisSpeeds	plus (ChassisSpeeds other)

ChassisSpeeds	minus (ChassisSpeeds other)

ChassisSpeeds	unaryMinus ()

ChassisSpeeds	times (double scalar)

ChassisSpeeds	div (double scalar)

Static Public Member Functions
static ChassisSpeeds	discretize (double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond, double dtSeconds)

static ChassisSpeeds	discretize (Measure< Velocity< Distance > > vx, Measure< Velocity< Distance > > vy, Measure< Velocity< Angle > > omega, Measure< Time > dt)

static ChassisSpeeds	discretize (ChassisSpeeds continuousSpeeds, double dtSeconds)

static ChassisSpeeds	fromFieldRelativeSpeeds (double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond, Rotation2d robotAngle)

static ChassisSpeeds	fromFieldRelativeSpeeds (Measure< Velocity< Distance > > vx, Measure< Velocity< Distance > > vy, Measure< Velocity< Angle > > omega, Rotation2d robotAngle)

static ChassisSpeeds	fromFieldRelativeSpeeds (ChassisSpeeds fieldRelativeSpeeds, Rotation2d robotAngle)

static ChassisSpeeds	fromRobotRelativeSpeeds (double vxMetersPerSecond, double vyMetersPerSecond, double omegaRadiansPerSecond, Rotation2d robotAngle)

static ChassisSpeeds	fromRobotRelativeSpeeds (Measure< Velocity< Distance > > vx, Measure< Velocity< Distance > > vy, Measure< Velocity< Angle > > omega, Rotation2d robotAngle)

static ChassisSpeeds	fromRobotRelativeSpeeds (ChassisSpeeds robotRelativeSpeeds, Rotation2d robotAngle)

Public Attributes
double	vxMetersPerSecond

double	vyMetersPerSecond

double	omegaRadiansPerSecond

Static Public Attributes
static final ChassisSpeedsProto	proto = new ChassisSpeedsProto()

static final ChassisSpeedsStruct	struct = new ChassisSpeedsStruct()

Detailed Description

Represents the speed of a robot chassis. Although this class contains similar members compared to a Twist2d, they do NOT represent the same thing. Whereas a Twist2d represents a change in pose w.r.t to the robot frame of reference, a ChassisSpeeds object represents a robot's velocity.

A strictly non-holonomic drivetrain, such as a differential drive, should never have a dy component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum will often have all three components.

Constructor & Destructor Documentation

◆ ChassisSpeeds() [1/3]

edu.wpi.first.math.kinematics.ChassisSpeeds.ChassisSpeeds ( )

Constructs a ChassisSpeeds with zeros for dx, dy, and theta.

◆ ChassisSpeeds() [2/3]

edu.wpi.first.math.kinematics.ChassisSpeeds.ChassisSpeeds	(	double	vxMetersPerSecond,
		double	vyMetersPerSecond,
		double	omegaRadiansPerSecond )

Constructs a ChassisSpeeds object.

Parameters

vxMetersPerSecond	Forward velocity.
vyMetersPerSecond	Sideways velocity.
omegaRadiansPerSecond	Angular velocity.

◆ ChassisSpeeds() [3/3]

edu.wpi.first.math.kinematics.ChassisSpeeds.ChassisSpeeds	(	Measure< Velocity< Distance > >	vx,
		Measure< Velocity< Distance > >	vy,
		Measure< Velocity< Angle > >	omega )

Constructs a ChassisSpeeds object.

Parameters

vx	Forward velocity.
vy	Sideways velocity.
omega	Angular velocity.

Member Function Documentation

◆ discretize() [1/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.discretize	(	ChassisSpeeds	continuousSpeeds,
		double	dtSeconds )

static

Discretizes a continuous-time chassis speed.

This function converts a continous-time chassis speed into a discrete-time one such that when the discrete-time chassis speed is applied for one timestep, the robot moves as if the velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt along the y-axis, and omega * dt around the z-axis).

This is useful for compensating for translational skew when translating and rotating a swerve drivetrain.

Parameters

continuousSpeeds	The continuous speeds.
dtSeconds	The duration of the timestep the speeds should be applied for.

Returns: Discretized ChassisSpeeds.

◆ discretize() [2/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.discretize	(	double	vxMetersPerSecond,
		double	vyMetersPerSecond,
		double	omegaRadiansPerSecond,
		double	dtSeconds )

static

Discretizes a continuous-time chassis speed.

This function converts a continuous-time chassis speed into a discrete-time one such that when the discrete-time chassis speed is applied for one timestep, the robot moves as if the velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt along the y-axis, and omega * dt around the z-axis).

This is useful for compensating for translational skew when translating and rotating a swerve drivetrain.

Parameters

vxMetersPerSecond	Forward velocity.
vyMetersPerSecond	Sideways velocity.
omegaRadiansPerSecond	Angular velocity.
dtSeconds	The duration of the timestep the speeds should be applied for.

Returns: Discretized ChassisSpeeds.

◆ discretize() [3/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.discretize	(	Measure< Velocity< Distance > >	vx,
		Measure< Velocity< Distance > >	vy,
		Measure< Velocity< Angle > >	omega,
		Measure< Time >	dt )

static

Discretizes a continuous-time chassis speed.

This function converts a continuous-time chassis speed into a discrete-time one such that when the discrete-time chassis speed is applied for one timestep, the robot moves as if the velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt along the y-axis, and omega * dt around the z-axis).

This is useful for compensating for translational skew when translating and rotating a swerve drivetrain.

Parameters

vx	Forward velocity.
vy	Sideways velocity.
omega	Angular velocity.
dt	The duration of the timestep the speeds should be applied for.

Returns: Discretized ChassisSpeeds.

◆ div()

ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.div ( double scalar )

Divides the ChassisSpeeds by a scalar and returns the new ChassisSpeeds.

For example, ChassisSpeeds{2.0, 2.5, 1.0} / 2 = ChassisSpeeds{1.0, 1.25, 0.5}

Parameters

scalar The scalar to divide by.

Returns: The scaled ChassisSpeeds.

◆ fromFieldRelativeSpeeds() [1/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds	(	ChassisSpeeds	fieldRelativeSpeeds,
		Rotation2d	robotAngle )

static

Converts a user provided field-relative ChassisSpeeds object into a robot-relative ChassisSpeeds object.

Parameters

fieldRelativeSpeeds	The ChassisSpeeds object representing the speeds in the field frame of reference. Positive x is away from your alliance wall. Positive y is to your left when standing behind the alliance wall.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the robot's frame of reference.

◆ fromFieldRelativeSpeeds() [2/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds	(	double	vxMetersPerSecond,
		double	vyMetersPerSecond,
		double	omegaRadiansPerSecond,
		Rotation2d	robotAngle )

static

Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object.

Parameters

vxMetersPerSecond	The component of speed in the x direction relative to the field. Positive x is away from your alliance wall.
vyMetersPerSecond	The component of speed in the y direction relative to the field. Positive y is to your left when standing behind the alliance wall.
omegaRadiansPerSecond	The angular rate of the robot.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the robot's frame of reference.

◆ fromFieldRelativeSpeeds() [3/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds	(	Measure< Velocity< Distance > >	vx,
		Measure< Velocity< Distance > >	vy,
		Measure< Velocity< Angle > >	omega,
		Rotation2d	robotAngle )

static

Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds object.

Parameters

vx	The component of speed in the x direction relative to the field. Positive x is away from your alliance wall.
vy	The component of speed in the y direction relative to the field. Positive y is to your left when standing behind the alliance wall.
omega	The angular rate of the robot.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the robot's frame of reference.

◆ fromRobotRelativeSpeeds() [1/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromRobotRelativeSpeeds	(	ChassisSpeeds	robotRelativeSpeeds,
		Rotation2d	robotAngle )

static

Converts a user provided robot-relative ChassisSpeeds object into a field-relative ChassisSpeeds object.

Parameters

robotRelativeSpeeds	The ChassisSpeeds object representing the speeds in the robot frame of reference. Positive x is towards the robot's front. Positive y is towards the robot's left.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the field's frame of reference.

◆ fromRobotRelativeSpeeds() [2/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromRobotRelativeSpeeds	(	double	vxMetersPerSecond,
		double	vyMetersPerSecond,
		double	omegaRadiansPerSecond,
		Rotation2d	robotAngle )

static

Converts a user provided robot-relative set of speeds into a field-relative ChassisSpeeds object.

Parameters

vxMetersPerSecond	The component of speed in the x direction relative to the robot. Positive x is towards the robot's front.
vyMetersPerSecond	The component of speed in the y direction relative to the robot. Positive y is towards the robot's left.
omegaRadiansPerSecond	The angular rate of the robot.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the field's frame of reference.

◆ fromRobotRelativeSpeeds() [3/3]

static ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.fromRobotRelativeSpeeds	(	Measure< Velocity< Distance > >	vx,
		Measure< Velocity< Distance > >	vy,
		Measure< Velocity< Angle > >	omega,
		Rotation2d	robotAngle )

static

Converts a user provided robot-relative set of speeds into a field-relative ChassisSpeeds object.

Parameters

vx	The component of speed in the x direction relative to the robot. Positive x is towards the robot's front.
vy	The component of speed in the y direction relative to the robot. Positive y is towards the robot's left.
omega	The angular rate of the robot.
robotAngle	The angle of the robot as measured by a gyroscope. The robot's angle is considered to be zero when it is facing directly away from your alliance station wall. Remember that this should be CCW positive.

Returns: ChassisSpeeds object representing the speeds in the field's frame of reference.

◆ minus()

ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.minus ( ChassisSpeeds other )

Subtracts the other ChassisSpeeds from the current ChassisSpeeds and returns the difference.

For example, ChassisSpeeds{5.0, 4.0, 2.0} - ChassisSpeeds{1.0, 2.0, 1.0} = ChassisSpeeds{4.0, 2.0, 1.0}

Parameters

other The ChassisSpeeds to subtract.

Returns: The difference between the two ChassisSpeeds.

◆ plus()

ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.plus ( ChassisSpeeds other )

Adds two ChassisSpeeds and returns the sum.

For example, ChassisSpeeds{1.0, 0.5, 0.75} + ChassisSpeeds{2.0, 1.5, 0.25} = ChassisSpeeds{3.0, 2.0, 1.0}

Parameters

other The ChassisSpeeds to add.

Returns: The sum of the ChassisSpeeds.

◆ times()

ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.times ( double scalar )

Multiplies the ChassisSpeeds by a scalar and returns the new ChassisSpeeds.

For example, ChassisSpeeds{2.0, 2.5, 1.0} * 2 = ChassisSpeeds{4.0, 5.0, 1.0}

Parameters

scalar The scalar to multiply by.

Returns: The scaled ChassisSpeeds.

◆ unaryMinus()

ChassisSpeeds edu.wpi.first.math.kinematics.ChassisSpeeds.unaryMinus ( )

Returns the inverse of the current ChassisSpeeds. This is equivalent to negating all components of the ChassisSpeeds.

Returns: The inverse of the current ChassisSpeeds.

Member Data Documentation

◆ omegaRadiansPerSecond

double edu.wpi.first.math.kinematics.ChassisSpeeds.omegaRadiansPerSecond

Represents the angular velocity of the robot frame. (CCW is +)

◆ proto

final ChassisSpeedsProto edu.wpi.first.math.kinematics.ChassisSpeeds.proto = new ChassisSpeedsProto()

static

ChassisSpeeds protobuf for serialization.

◆ struct

final ChassisSpeedsStruct edu.wpi.first.math.kinematics.ChassisSpeeds.struct = new ChassisSpeedsStruct()

static

ChassisSpeeds struct for serialization.

◆ vxMetersPerSecond

double edu.wpi.first.math.kinematics.ChassisSpeeds.vxMetersPerSecond

Velocity along the x-axis. (Fwd is +)

◆ vyMetersPerSecond

double edu.wpi.first.math.kinematics.ChassisSpeeds.vyMetersPerSecond

Velocity along the y-axis. (Left is +)

The documentation for this class was generated from the following file:

D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/math/kinematics/ChassisSpeeds.java

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ChassisSpeeds() [1/3]

◆ ChassisSpeeds() [2/3]

◆ ChassisSpeeds() [3/3]

Member Function Documentation

◆ discretize() [1/3]

◆ discretize() [2/3]

◆ discretize() [3/3]

◆ div()

◆ fromFieldRelativeSpeeds() [1/3]

◆ fromFieldRelativeSpeeds() [2/3]

◆ fromFieldRelativeSpeeds() [3/3]

◆ fromRobotRelativeSpeeds() [1/3]

◆ fromRobotRelativeSpeeds() [2/3]

◆ fromRobotRelativeSpeeds() [3/3]

◆ minus()

◆ plus()

◆ times()

◆ unaryMinus()

Member Data Documentation

◆ omegaRadiansPerSecond

◆ proto

◆ struct

◆ vxMetersPerSecond

◆ vyMetersPerSecond