frcsim::TankModel Class Reference

Kinematic and dynamic model for simulating a differential/tank drive. More...

#include <tank_model.hpp>

Public Member Functions
	TankModel ()=default
virtual	~TankModel ()=default
virtual void	Update (RigidBody *chassis, double leftVolts, double rightVolts, double dt)=0
	Updates the chassis dynamics using left and right wheel speeds/torques.

Detailed Description

Kinematic and dynamic model for simulating a differential/tank drive.

Constructor & Destructor Documentation

TankModel()

frcsim::TankModel::TankModel ( )

default

~TankModel()

virtual frcsim::TankModel::~TankModel ( )

virtualdefault

Member Function Documentation

Update()

virtual void frcsim::TankModel::Update ( RigidBody * chassis, double leftVolts, double rightVolts, double dt )

pure virtual

Updates the chassis dynamics using left and right wheel speeds/torques.

Parameters

chassis	The rigid body representing the robot.
leftVolts	Left side motor voltage.
rightVolts	Right side motor voltage.
dt	Timestep in seconds.

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

• src/main/driver/include/frcsim/drivetrains/tank/tank_model.hpp