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acmerobotics / road-runner

Wheeled mobile robot motion planning library designed for FTC
MIT License
209 stars 75 forks source link

Added SwerveKinematics to Kinematics.kt #88

Closed Smartyguy001 closed 9 months ago

Smartyguy001 commented 9 months ago

Added SwerveKinematics to Kinematics.kt using the SwerveKinematics in Roadrunner 0.5.x as reference

rbrott commented 9 months ago

Thanks for the patch.

The decision to exclude swerve kinematics from 1.0 was deliberate. My impression is that swerve drives are relatively uncommon and more diverse than mecanum/tank in their construction. There seem to be several choices of actuators (e.g., servos, differential motors) and sensor placements that affect the kinematics and control design. My hope is that teams undertaking this project will have the experience to write their own kinematics and adapt the quickstart procedures to their calibration needs. And since it's easy for downstream users to integrate this code into Road Runner (i.e., they don't need to fork the core library and change a bunch of files), I'm hesitant to include swerve kinematics in the core library.

Smartyguy001 commented 9 months ago

Ah, I perfectly understand. In that case, I will close the pull request. Thanks for the review!