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;
}
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);
}
public void SetValues(HolonomicDriveValues values)
{
SetValues(values.FrontLeft, values.FrontRight, values.RearLeft, values.RearRight);
}
public void SetValues(HolonomicDriveValues values)
{
SetValues(values.FrontLeft, values.FrontRight, values.RearLeft, values.RearRight);
}