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RobotCasserole1736 / RobotCasserole2017

Robot Casserole robot source code for the 2017 FRC game, First Steamworks.
MIT License
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Create Robot Speedometer #23

Closed gerth2 closed 7 years ago

gerth2 commented 7 years ago

Create a class which uses the wheelRPM state variables, and calculates a net speed of the robot in ft/sec.

Will have to do some math which I haven't worked out yet.

Speed should be saved to a new varaiable defined in RobotState. Speed should be logged, displayed in the State webpage, and also displayed as a dial on the driver view webpage.

gerth2 commented 7 years ago

http://www.academia.edu/4557426/KINEMATICS_MODELLING_OF_MECANUM_WHEELED_MOBILE_PLATFORM

gerth2 commented 7 years ago

1) Convert wheel speeds from RPM to radians/sec 2) Calculate wheel radius in ft (4-inch diameter wheels) 3) use math from paper to calculate x/y velocities 4) calculate net speed using right-triangle maths