core_pb::drive_system

Enum DriveSystem

pub enum DriveSystem<const WHEELS: usize> {
    Omniwheel {
        wheel_radius: f32,
        robot_radius: f32,
        radius_angles_rad: [Rotation2<f32>; WHEELS],
        forwards_is_clockwise: [bool; WHEELS],
    },
}

Expand description

Systems for motor speed calculations

Variants§

Omniwheel

A drive system with any number of omniwheels that can freely move perpendicularly to their primary direction using rollers

Fields

§wheel_radius: f32

§robot_radius: f32

§radius_angles_rad: [Rotation2<f32>; WHEELS]

§forwards_is_clockwise: [bool; WHEELS]

Implementations§

impl<const WHEELS: usize> DriveSystem<WHEELS>

pub fn new_omniwheel( wheel_radius: f32, robot_radius: f32, radius_angles_rad: [Rotation2<f32>; WHEELS], forwards_is_clockwise: [bool; WHEELS], ) -> Option<DriveSystem<WHEELS>>

A drive system with any number of omniwheels that can freely move perpendicularly to their primary direction using rollers

Length and speeds should use grid units (gu)

§Arguments

wheel_radius: the radius from the center of a wheel to its edge, in gu; must be positive
robot_radius: 2d distance from the center of the robot to the center of each wheel, in gu; must be positive
radius_angles_rad: Angle of the line from the center of the robot to the center of each wheel, in radians, relative to the robot
forwards_is_clockwise: For each motor, if it is driven forwards, does that result in the wheel turning clockwise?

Note: if all wheels are turning clockwise, the robot as a whole turn rotate counterclockwise

§Returns

DriveSystem if the configuration is valid, otherwise None

pub fn get_motor_speed_omni( &self, target_velocity: Vector2<f32>, target_angular_velocity: f32, ) -> [f32; WHEELS]

Get the speeds that each motor should turn for the given targets, in rad/s

§Arguments

target_velocity: the desired velocity of the robot in gu/s, relative to the robot
target_angular_velocity: the desired angular velocity of the robot in rad/s, clockwise positive

impl DriveSystem<3>

pub fn get_actual_vel_omni(&self, motor_speeds: [f32; 3]) -> (Vector2<f32>, f32)

Given signed motor speeds, find the velocity and angular velocity of the robot

§Arguments

motor_speeds: the signed speeds of the motors, in rad/s

pub fn get_actual_rotational_vel_omni(&self, motor_speeds: [f32; 3]) -> f32

Given signed motor speeds, find the angular velocity of the robot

§Arguments

motor_speeds: the signed speeds of the motors, in rad/s

Trait Implementations§

impl<const WHEELS: usize> Clone for DriveSystem<WHEELS>

fn clone(&self) -> DriveSystem<WHEELS>

Returns a copy of the value. Read more

1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl<const WHEELS: usize> Debug for DriveSystem<WHEELS>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

impl<const WHEELS: usize> Copy for DriveSystem<WHEELS>

Auto Trait Implementations§

impl<const WHEELS: usize> Freeze for DriveSystem<WHEELS>

impl<const WHEELS: usize> RefUnwindSafe for DriveSystem<WHEELS>

impl<const WHEELS: usize> Send for DriveSystem<WHEELS>

impl<const WHEELS: usize> Sync for DriveSystem<WHEELS>

impl<const WHEELS: usize> Unpin for DriveSystem<WHEELS>

impl<const WHEELS: usize> UnwindSafe for DriveSystem<WHEELS>

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Az for T

fn az<Dst>(self) -> Dst
where T: Cast<Dst>,

Casts the value.

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<Src, Dst> CastFrom<Src> for Dst
where Src: Cast<Dst>,

fn cast_from(src: Src) -> Dst

Casts the value.

impl<T> CheckedAs for T

fn checked_as<Dst>(self) -> Option<Dst>
where T: CheckedCast<Dst>,

Casts the value.

impl<Src, Dst> CheckedCastFrom<Src> for Dst
where Src: CheckedCast<Dst>,

fn checked_cast_from(src: Src) -> Option<Dst>

Casts the value.

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dst: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dst. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T> Instrument for T

fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided [Span], returning an Instrumented wrapper. Read more

fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> OverflowingAs for T

fn overflowing_as<Dst>(self) -> (Dst, bool)
where T: OverflowingCast<Dst>,

Casts the value.

impl<Src, Dst> OverflowingCastFrom<Src> for Dst
where Src: OverflowingCast<Dst>,

fn overflowing_cast_from(src: Src) -> (Dst, bool)

Casts the value.

impl<T> Same for T

type Output = T

Should always be Self

impl<T> SaturatingAs for T

fn saturating_as<Dst>(self) -> Dst
where T: SaturatingCast<Dst>,

Casts the value.

impl<Src, Dst> SaturatingCastFrom<Src> for Dst
where Src: SaturatingCast<Dst>,

fn saturating_cast_from(src: Src) -> Dst

Casts the value.

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> UnwrappedAs for T

fn unwrapped_as<Dst>(self) -> Dst
where T: UnwrappedCast<Dst>,

Casts the value.

impl<Src, Dst> UnwrappedCastFrom<Src> for Dst
where Src: UnwrappedCast<Dst>,

fn unwrapped_cast_from(src: Src) -> Dst

Casts the value.

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V

impl<T> WithSubscriber for T

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a [WithDispatch] wrapper. Read more

fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a [WithDispatch] wrapper. Read more

impl<T> WrappingAs for T

fn wrapping_as<Dst>(self) -> Dst
where T: WrappingCast<Dst>,

Casts the value.

impl<Src, Dst> WrappingCastFrom<Src> for Dst
where Src: WrappingCast<Dst>,

fn wrapping_cast_from(src: Src) -> Dst

Casts the value.

impl<T> FormatOrDebug for T
where T: Debug,

impl<T> SerializableAny for T
where T: 'static + Any + Clone + for<'a> Send + Sync,