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 = 6.12

Function Documentation

ToDistance()

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

constexpr

ToSensorPosition()

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

constexpr

ToSensorVelocity()

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

constexpr

ToVelocity()

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

constexpr

Variable Documentation

driveGearRatio

auto sensor_conversions::swerve_drive::drive::driveGearRatio = 6.12

constexpr

wheelCircumference

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

constexpr

wheelDiameter

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

constexpr