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);
}
public static void Halt(this HolonomicDriveTrain driveTrain)
{
driveTrain.SetValues(new HolonomicDriveValues());
}
public static void MecanumDrive(this HolonomicDriveTrain driveTrain, float x, float y, bool inputsSquared = false)
{
var values = Calculator.MecanumDrive(driveTrain, x, y, inputsSquared);
driveTrain.SetValues(values);
}
public static void TankDrive(this HolonomicDriveTrain driveTrain, float left, float right, bool inputsSquared = false)
{
var values = Calculator.TankDrive(left, right, inputsSquared);
driveTrain.SetValues(values);
}