Using Kinematics Classes

Kinematic classes in Pond are designed to abstract the complex math of robot movement and localization into reusable, testable, and modular components. Whether you’re a beginner or a veteran team, they help separate what your robot should do from how it does it, keeping your code clean and scalable.

What Are Kinematic Classes?

A kinematic class is a custom class you create to handle the math and logic of how your robot should move — typically based on forward and inverse kinematics. Instead of telling each motor what to do individually, you tell your kinematic class what movement you want, and it calculates the motor powers for you.

What Are Kinematic Classes in Pond?

Kinematic classes in Pond, like:

  • MecanumForwardKinematics
  • MecanumInverseKinematics
  • MecanumKinematicsParams

…are math utilities that calculate:

  • Inverse kinematics: What motor outputs are needed to move the robot a certain way
  • Forward kinematics: What the robot’s actual movement is based on encoder/motor inputs

These are independent of the FTC SDK and designed to integrate into Pond’s subsystems and commands model.

In Summary

Kinematic classes in Pond give you:

  • Accurate movement & localization math
  • Cleaner, more modular robot code
  • A beginner-friendly path to advanced control
  • A system that integrates seamlessly into Pond’s subsystem & command structure

They are perfect for teams who want:

  • Simplified TeleOp control
  • Real-time pose estimation in Autonomous
  • A customizable alternative to full localization libraries like Road Runner

Writing Your First Subsystem

Coming soon!

Writing Your First Command

Coming soon!