Chassis movement in turret reference frame

[isa-9]

Specification

We want to be able to move the chassis in the turret reference frame

Implementation

We'll have to get the angle offset between the turret and the chassis to be able to create a rotation matrix.
We can use the motor from the turret to get its angle offset from the chassis. There are various methods to get the motor information that we'll have to test:

• Having a copy of the object DjiMotor that will let us see the motor data from the chassis command
• Passing to the chassis command a method to get the turret motor data
• Rx::TurretData (see Ressources)

A new command for the Chassis will also have to be created. It must have a similar structure to the ChassisDriveCommand we already have. However, before setting the target output, we'll have to transform the inputs with the rotation matrix.

Ressources

• Rotation Matrix
• Rx::TurretData (See if we can use it to get the turret motor position)