BunyipsLib/org.murraybridgebunyips.bunyipslib.drive/CartesianMecanumDrive/calculateRotationPrioritisedPowers

calculateRotationPrioritisedPowers

open fun calculateRotationPrioritisedPowers(speedX: Double, speedY: Double, speedR: Double): Array<Double>

Calculate Mecanum drive powers with rotational prioritisation.

Return

an array of new motor powers in the order of front left, front right, back left, back right

Parameters

speedX

Cartesian speed in the X direction

speedY

Cartesian speed in the Y direction

speedR

Speed of rotation, clockwise positive