public HolonomicDriveValues TankDrive(float left, float right, bool inputsSquared = false)
{
left = InputUtilities.TransformWithWarning(left, square: inputsSquared);
right = InputUtilities.TransformWithWarning(right, square: inputsSquared);
return(new HolonomicDriveValues {
FrontLeft = left,
FrontRight = right,
RearLeft = left,
RearRight = right
});
}
public HolonomicDriveValues MecanumDrive(HolonomicDriveTrain driveTrain, float x, float y, bool inputsSquared = false)
{
x = InputUtilities.TransformWithWarning(x, square: inputsSquared);
y = InputUtilities.TransformWithWarning(y, square: inputsSquared);
var desiredMovement = new DenseVector(new [] { x, y });
// var desiredMovement = new DenseVector(new [] { 1f, 0f });
HolonomicDriveValues result = new HolonomicDriveValues();
result.FrontLeft = ComputeMecanumDriveMotorSpeed(desiredMovement, driveTrain.FrontLeft.GetComponent <VectorComponent>(DeviceComponentType.DriveWheelForceVector));
result.FrontRight = ComputeMecanumDriveMotorSpeed(desiredMovement, driveTrain.FrontRight.GetComponent <VectorComponent>(DeviceComponentType.DriveWheelForceVector));
result.RearLeft = ComputeMecanumDriveMotorSpeed(desiredMovement, driveTrain.RearLeft.GetComponent <VectorComponent>(DeviceComponentType.DriveWheelForceVector));
result.RearRight = ComputeMecanumDriveMotorSpeed(desiredMovement, driveTrain.RearRight.GetComponent <VectorComponent>(DeviceComponentType.DriveWheelForceVector));
return(result);
}