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SwerveSimulator.nb
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SwerveSimulator.nb
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3.786494353382106*^9, 3.786494353764572*^9}},
CellLabel->"In[32]:=",ExpressionUUID->"e7414c17-05c2-4c08-bd8b-b8e17f04d2ca"],
Cell[BoxData[
TagBox[
StyleBox[
DynamicModuleBox[{$CellContext`leftJoystickX$$ =
0, $CellContext`leftJoystickY$$ = 0, $CellContext`rightJoystickX$$ =
0, $CellContext`robotLength$$ = 3, $CellContext`robotWidth$$ = 2,
Typeset`show$$ = True, Typeset`bookmarkList$$ = {},
Typeset`bookmarkMode$$ = "Menu", Typeset`animator$$, Typeset`animvar$$ =
1, Typeset`name$$ = "\"untitled\"", Typeset`specs$$ = {{{
Hold[$CellContext`robotWidth$$], 2, "Robot Width"}, 1.5, 5}, {{
Hold[$CellContext`robotLength$$], 3, "Robot Length"}, 1.5, 5}, {{
Hold[$CellContext`leftJoystickY$$], 0, "Up/Down Translation"}, -1,
1}, {{
Hold[$CellContext`leftJoystickX$$], 0, "Left/Right Translation"}, -1,
1}, {{
Hold[$CellContext`rightJoystickX$$], 0, "Rotation"}, -1, 1}},
Typeset`size$$ = {384., {235., 240.}}, Typeset`update$$ = 0,
Typeset`initDone$$, Typeset`skipInitDone$$ =
False, $CellContext`robotWidth$34680$$ =
0, $CellContext`robotLength$34681$$ =
0, $CellContext`leftJoystickY$34682$$ =
0, $CellContext`leftJoystickX$34683$$ =
0, $CellContext`rightJoystickX$34684$$ = 0},
DynamicBox[Manipulate`ManipulateBoxes[
1, StandardForm,
"Variables" :> {$CellContext`leftJoystickX$$ =
0, $CellContext`leftJoystickY$$ = 0, $CellContext`rightJoystickX$$ =
0, $CellContext`robotLength$$ = 3, $CellContext`robotWidth$$ = 2},
"ControllerVariables" :> {
Hold[$CellContext`robotWidth$$, $CellContext`robotWidth$34680$$, 0],
Hold[$CellContext`robotLength$$, $CellContext`robotLength$34681$$, 0],
Hold[$CellContext`leftJoystickY$$, $CellContext`leftJoystickY$34682$$,
0],
Hold[$CellContext`leftJoystickX$$, $CellContext`leftJoystickX$34683$$,
0],
Hold[$CellContext`rightJoystickX$$, \
$CellContext`rightJoystickX$34684$$, 0]},
"OtherVariables" :> {
Typeset`show$$, Typeset`bookmarkList$$, Typeset`bookmarkMode$$,
Typeset`animator$$, Typeset`animvar$$, Typeset`name$$,
Typeset`specs$$, Typeset`size$$, Typeset`update$$, Typeset`initDone$$,
Typeset`skipInitDone$$}, "Body" :>
Module[{$CellContext`robot$ = Graphics[{
FaceForm[],
EdgeForm[Black],
Rectangle[{-$CellContext`robotWidth$$/
2, -$CellContext`robotLength$$/2}, {$CellContext`robotWidth$$/
2, $CellContext`robotLength$$/2}]}, PlotLabel -> Column[{
Style["Legend:", Black, FontSize -> 16],
Style["Translation Vectors ", Red],
Style["Rotation Vectors ", Blue],
Style["Net Vectors", Purple],
"Rotation Circle (notice how wheels are tangent when only \
rotating)"}, Center], AxesOrigin -> {{0, 0}, {0, 0}},
PlotRange -> {{-4.5, 4.5}, {-4.5, 4.5}}, Axes ->
False], $CellContext`robotVectorOrigin$ = {0,
4}, $CellContext`topLeftPoint$ = {-$CellContext`robotWidth$$/2 +
0.3, $CellContext`robotLength$$/2 -
0.3}, $CellContext`topRightPoint$ = {$CellContext`robotWidth$$/2 -
0.3, $CellContext`robotLength$$/2 -
0.3}, $CellContext`bottomLeftPoint$ = {-$CellContext`robotWidth$$/
2 + 0.3, -$CellContext`robotLength$$/2 +
0.3}, $CellContext`bottomRightPoint$ = {$CellContext`robotWidth$$/
2 - 0.3, -$CellContext`robotLength$$/2 +
0.3}, $CellContext`wheelToCenterDistance$ =
Sqrt[($CellContext`robotWidth$$/2 -
0.3)^2 + ($CellContext`robotLength$$/2 -
0.3)^2], $CellContext`translation$ = \
{$CellContext`leftJoystickX$$, $CellContext`leftJoystickY$$}, \
$CellContext`rotationMagnitude$ =
Sqrt[$CellContext`robotWidth$$^2 + $CellContext`robotLength$$^2], \
$CellContext`topLeftRotation$ = {$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`topRightRotation$ = \
{$CellContext`robotLength$$, -$CellContext`robotWidth$$}, \
$CellContext`bottomLeftRotation$ = {-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`bottomRightRotation$ = \
{-$CellContext`robotLength$$, -$CellContext`robotWidth$$}, $CellContext`\
\[Theta]TopLeft$ = $CellContext`checkIfDefined[Pi/2 + ArcTan[
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1],
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]],
2]]], $CellContext`\[Theta]TopRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1],
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]],
2]]], $CellContext`\[Theta]BottomLeft$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1],
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]],
2]]], $CellContext`\[Theta]BottomRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1],
Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$,
Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 2]]]},
Show[$CellContext`robot$,
ListPlot[{$CellContext`topLeftPoint$, $CellContext`topRightPoint$, \
$CellContext`bottomLeftPoint$, $CellContext`bottomRightPoint$},
PlotStyle -> {Black}],
Graphics[{
Opacity[0.3],
Circle[{0, 0}, $CellContext`wheelToCenterDistance$]}],
ListPlot[
$CellContext`getWheelPts[$CellContext`topLeftPoint$, $CellContext`\
\[Theta]TopLeft$], Joined -> True, PlotStyle -> Opacity[0.75]],
ListPlot[
$CellContext`getWheelPts[$CellContext`topRightPoint$, $CellContext`\
\[Theta]TopRight$], Joined -> True, PlotStyle -> Opacity[0.75]],
ListPlot[
$CellContext`getWheelPts[$CellContext`bottomLeftPoint$, \
$CellContext`\[Theta]BottomLeft$], Joined -> True, PlotStyle ->
Opacity[0.75]],
ListPlot[
$CellContext`getWheelPts[$CellContext`bottomRightPoint$, \
$CellContext`\[Theta]BottomRight$], Joined -> True, PlotStyle ->
Opacity[0.75]],
Graphics[{Red,
Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$}]}],
Graphics[{Red,
Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$}]}],
Graphics[{Red,
Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + $CellContext`translation$}]}],