C# (CSharp) HolonomicDriveValues Examples

Example #1

File: HolonomicDriveTrainStatics.cs Project: the-dargon-project/Dargon.Robotics

 public static void TankMecanumDriveHybrid(this HolonomicDriveTrain driveTrain, float x, float y, float turn, float tankWeight, bool inputsSquared = false)
 {
     var tank = Calculator.TankDrive(turn, -turn, inputsSquared);
      var mecanum = Calculator.MecanumDrive(driveTrain, x, y, inputsSquared);
      var mecanumWeight = 1.0f - tankWeight;
      var values = new HolonomicDriveValues {
     FrontLeft = tank.FrontLeft * tankWeight + mecanum.FrontLeft * mecanumWeight,
     FrontRight = tank.FrontRight * tankWeight + mecanum.FrontRight * mecanumWeight,
     RearLeft = tank.RearLeft * tankWeight + mecanum.RearLeft * mecanumWeight,
     RearRight = tank.RearRight * tankWeight + mecanum.RearRight * mecanumWeight
      };
      driveTrain.SetValues(values);
 }

Example #2

File: HolonomicDriveTrainStatics.cs Project: the-dargon-project/robotics

        public static void TankMecanumDriveHybrid(this HolonomicDriveTrain driveTrain, float x, float y, float turn, float tankWeight, bool inputsSquared = false)
        {
            var tank          = Calculator.TankDrive(turn, -turn, inputsSquared);
            var mecanum       = Calculator.MecanumDrive(driveTrain, x, y, inputsSquared);
            var mecanumWeight = 1.0f - tankWeight;
            var values        = new HolonomicDriveValues {
                FrontLeft  = tank.FrontLeft * tankWeight + mecanum.FrontLeft * mecanumWeight,
                FrontRight = tank.FrontRight * tankWeight + mecanum.FrontRight * mecanumWeight,
                RearLeft   = tank.RearLeft * tankWeight + mecanum.RearLeft * mecanumWeight,
                RearRight  = tank.RearRight * tankWeight + mecanum.RearRight * mecanumWeight
            };

            driveTrain.SetValues(values);
        }