def goXYOmegaWorldAccel(vx_w,vy_w,omega=0,theta=0,time=1): wheelVels = mat.getWheelVelFromWorld(vx_w,vy_w,omega,theta) k = 1 # Set speed for each wheel for w in wheelVels: speedAccelM(k,time,w) k = k+1 return
def goXYOmegaWorldAccel(vx_w, vy_w, omega=0, theta=0, time=1):
wheelVels = mat.getWheelVelFromWorld(vx_w, vy_w, omega, theta)
k = 1
# Set speed for each wheel
for w in wheelVels:
speedAccelM(k, time, w)
k = k + 1
return
def goXYOmegaWorld(vx_w,vy_w,omega=0,theta=0): # Get required wheel velocities from the commanded world velocities # [Omega1,Omega2,Omega3] wheelVels = mat.getWheelVelFromWorld(vx_w,vy_w,omega,theta) k = 1 # Set speed for each wheel for w in wheelVels: SpeedM(k,w) k = k+1 return
def goXYOmegaWorld(vx_w, vy_w, omega=0, theta=0):
# Get required wheel velocities from the commanded world velocities
# [Omega1,Omega2,Omega3]
wheelVels = mat.getWheelVelFromWorld(vx_w, vy_w, omega, theta)
k = 1
# Set speed for each wheel
for w in wheelVels:
SpeedM(k, w)
k = k + 1
return
