get
Method to generate a ChassisSpeeds object from a desired X, Y, and Rotational velocity.
Return
The generated ChassisSpeeds object.
Parameters
v
The desired forward velocity of the robot.
v
The desired side velocity of the robot.
angle
The desired rotational velocity of the robot.
fun getTargetSpeeds(vForward: Double, vSide: Double, headingX: Double, headingY: Double): ChassisSpeeds
Method to generate a ChassisSpeeds object from a desired X, Y, and angle X and Y components.
Return
The generated ChassisSpeeds object.
Parameters
v
The desired forward velocity of the robot.
v
The desired side velocity of the robot.
heading
The desired X component of the angle.
heading
The desired Y component of the angle.