[Ether]

Perhaps I am looking in the wrong places, but the attached screenshots are the only documentation I could find for RobotDrive::HolonomicDrive in the C++ WPI library. Is there more detailed documentation available elsewhere?

My specific questions are:

1) magnitude. what are the units, and the range? or is this a unitless -1 to +1 input ?

2) direction. Is this expected to be in degrees or radians? Where is zero, and is it CW or CCW?

3) rotation. Is this positive CW or positive CCW? What are the units? rpm, degrees per second, radians per second? Or is it unitless -1 to +1 ?


And a 4th question:

4) Is there someplace to download (I do not have the DVD) the library source code for inspection purposes only? i.e., without an installer.

Thank you.