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void driveFromCurvature(double speedPct, double curvature)

Drives the chassis on the given curvature at the given speed

Some curvature/speed combinations may be impossible on some robots (any time speedPct is 100%, for example). This function will ALWAYS drive at the specified curvature, even if that means driving forward at 1% speed.

Parameters

  • speedPct - The speed to drive at in pct units
  • curvature - The curvature of the path to drive in 1/in units

Explanation

Curvature’s units is 1/length. For the purposes of curvature, length is the radius of a circle. So, a curvature of 1/10 means that the robot is driving on a circle with a radius of 10 inches.

This function uses the equations:

$ L = V * (2 + CT) / 2 $

and

$ R = V * (2 - CT) / 2 $

Where $L$ is the left side speed, $R$ is the right side speed, $V$ is the speed, $C$ is the curvature, and $T$ is the track width.

These equations can all be found in the pure pursuit paper on page 16.

Example 

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

//Drive along a 10 inch circle at 50% speed
chassis.driveFromCurvature(50, 0.1);