frcsim::MecanumModel Class Reference

Kinematic and dynamic block for simulating a Mecanum drivetrain. More...

#include <mecanum_model.hpp>

Public Member Functions
	MecanumModel ()=default
virtual	~MecanumModel ()=default
virtual void	Update (RigidBody *chassis, double flVolts, double frVolts, double blVolts, double brVolts, double dt)=0
	Applies motor torques and calculates slip for mecanum wheels.

Detailed Description

Kinematic and dynamic block for simulating a Mecanum drivetrain.

Constructor & Destructor Documentation

MecanumModel()

frcsim::MecanumModel::MecanumModel ( )

default

~MecanumModel()

virtual frcsim::MecanumModel::~MecanumModel ( )

virtualdefault

Member Function Documentation

Update()

virtual void frcsim::MecanumModel::Update ( RigidBody * chassis, double flVolts, double frVolts, double blVolts, double brVolts, double dt )

pure virtual

Applies motor torques and calculates slip for mecanum wheels.

Parameters

chassis	The rigid body representing the robot's base.
flVolts	Front left motor voltage.
frVolts	Front right motor voltage.
blVolts	Back left motor voltage.
brVolts	Back right motor voltage.
dt	The simulation timestep in seconds.

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The documentation for this class was generated from the following file:

• src/main/driver/include/frcsim/drivetrains/mecanum/mecanum_model.hpp