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Thank you in advance! ❤️
Mecanum Wheel Demo v2
Get the wheel velocity by inputing 8-wheel-car's velocity
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| P | P | Position of wheel center in car's frame(mm) | Point |
| gamma | gamma | gamma of wheel in car's frame(rad) | Number |
| r | r | radius of wheel(mm) | Number |
| t | t | angle between x-axis of world with car frame's x-axis(deg) | Number |
| b | b | angle between x-axis of car frame's x-axis with wheel frame x-axis(deg) | Number |
| tvel | tvel | rotation velocity about z-axis of world frame(deg/s) | Number |
| xvel | xvel | moving velocty in x-axis direction of world frame(mm/s) | Number |
| yvel | yvel | moving velocty in y-axis direction of world frame(mm/s) | Number |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| V | V | Velocity of wheel(deg/s) | Number |
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