sensor_conversions::swerve_drive::drive Namespace Reference

Functions
constexpr units::inch_t	ToDistance (const units::angle::turn_t sensorunit)
constexpr units::angle::turn_t	ToSensorPosition (const units::inch_t distance)
constexpr units::inches_per_second_t	ToVelocity (const units::angular_velocity::revolutions_per_minute_t sensorVelocity)
constexpr units::angular_velocity::revolutions_per_minute_t	ToSensorVelocity (const units::inches_per_second_t velocity)

Variables
constexpr auto	wheelDiameter = 4.0_in / units::angle::turn_t{1}
constexpr auto	wheelCircumference = wheelDiameter * std::numbers::pi
constexpr auto	driveGearRatio = 5.49

Function Documentation

ToDistance()

constexpr units::inch_t sensor_conversions::swerve_drive::drive::ToDistance ( const units::angle::turn_t  sensorunit )

constexpr

ToSensorPosition()

constexpr units::angle::turn_t sensor_conversions::swerve_drive::drive::ToSensorPosition ( const units::inch_t  distance )

constexpr

ToSensorVelocity()

constexpr units::angular_velocity::revolutions_per_minute_t sensor_conversions::swerve_drive::drive::ToSensorVelocity ( const units::inches_per_second_t  velocity )

constexpr

ToVelocity()

constexpr units::inches_per_second_t sensor_conversions::swerve_drive::drive::ToVelocity ( const units::angular_velocity::revolutions_per_minute_t  sensorVelocity )

constexpr

Variable Documentation

driveGearRatio

constexpr auto sensor_conversions::swerve_drive::drive::driveGearRatio = 5.49

constexpr

wheelCircumference

constexpr auto sensor_conversions::swerve_drive::drive::wheelCircumference = wheelDiameter * std::numbers::pi

constexpr

wheelDiameter

constexpr auto sensor_conversions::swerve_drive::drive::wheelDiameter = 4.0_in / units::angle::turn_t{1}

constexpr