void driveFromAngular(double speedPct, double angularVelocity)

Drives the chassis on the given angular velocity at the given speed

Some angular velocities are impossible on some robots. This function will do its best to drive at the specified angular velocity, even if that means driving forward at 1% speed.

Parameters

• speedPct - The speed to drive at in pct units
• angularVelocity - The angular velocity of the path to drive in rad/s units

Explanation

There is this very nice equation that relates angular velocity, linear velocity, and curvature:

$ \omega = \frac{v}{C} $

Where $\omega$ is the angular velocity, $v$ is the linear velocity, and $C$ is the curvature of the circle that the robot is driving on.

Thus we can convert angular velocity to curvature, then call driveFromCurvature to drive on the circle.

Example

Chassis chassis (left, right, positioner, 11, 3.0/2.0, 3.25/2.0, ratio18_1);

//Drive at 1 rad/s at 50% speed
chassis.driveFromAngular(50, 1);