A representation of a wheel on a robot, with possible motor, braking, and steering controls More...

Public Member Functions
void	GetWheelSpinAxis (out double x, out double y, out double z)
	Returns a unit vector representing the axis around which this wheel spins. This unit vector is relative to the robot, not the world. More...

void	GetOffsetFromRobotCenterOfMass (out double x, out double y, out double z)
	Returns the offset from the center of this wheel to the robot's center of mass, in meters. This vector is relative to the robot, not the world. More...

void	Control (double drive, double brake, double steer)
	A function to set the state this wheel should be attempting to attain More...

Properties
double	Radius `[get]`
	The radius of the wheel at its widest, in meters More...

double	MaxDriveForce `[get]`
	The maximum forward torque force that can be applied to this wheel by the motor, or zero if this is an unpowered wheel More...

double	DriveReverseCoefficient `[get]`
	The coefficient (0-1) for reverse engine power. The maximum reverse torque force on this wheel can be determined by multiplying this coefficient by the maximum forward torque force. More...

double	MaxBrakeForce `[get]`
	The maximum braking force that can be applied to this wheel More...

double	MinSteeringAngle `[get]`
	The minimum steering angle, in degrees (usually negative, or zero if this is a fixed-axis wheel) More...

double	MaxSteeringAngle `[get]`
	The maximum steering angle, in degrees (usually positive, or zero if this is a fixed-axis wheel) More...

Detailed Description

A representation of a wheel on a robot, with possible motor, braking, and steering controls

Member Function Documentation

◆ Control()

void IRobotWheel.Control	(	double	drive,
		double	brake,
		double	steer
	)

A function to set the state this wheel should be attempting to attain

Parameters

drive	The percentage of drive force applied, from 0 to 1 for forward, and 0 to -1 for backwards
brake	The percentage of braking force applied, from 0 to 1
steer	The target steering angle, in degrees

◆ GetOffsetFromRobotCenterOfMass()

void IRobotWheel.GetOffsetFromRobotCenterOfMass	(	out double	x,
		out double	y,
		out double	z
	)

Returns the offset from the center of this wheel to the robot's center of mass, in meters.
This vector is relative to the robot, not the world.

◆ GetWheelSpinAxis()

void IRobotWheel.GetWheelSpinAxis	(	out double	x,
		out double	y,
		out double	z
	)

Returns a unit vector representing the axis around which this wheel spins. This unit vector is relative to the robot, not the world.

Property Documentation

◆ DriveReverseCoefficient

double IRobotWheel.DriveReverseCoefficient

get

The coefficient (0-1) for reverse engine power. The maximum reverse torque force on this wheel can be determined by multiplying this coefficient by the maximum forward torque force.

◆ MaxBrakeForce

double IRobotWheel.MaxBrakeForce

get

The maximum braking force that can be applied to this wheel

◆ MaxDriveForce

double IRobotWheel.MaxDriveForce

get

The maximum forward torque force that can be applied to this wheel by the motor, or zero if this is an unpowered wheel

◆ MaxSteeringAngle

double IRobotWheel.MaxSteeringAngle

get

The maximum steering angle, in degrees (usually positive, or zero if this is a fixed-axis wheel)

◆ MinSteeringAngle

double IRobotWheel.MinSteeringAngle

get

The minimum steering angle, in degrees (usually negative, or zero if this is a fixed-axis wheel)

◆ Radius

double IRobotWheel.Radius

get

The radius of the wheel at its widest, in meters

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Public Member Functions

Properties