MecanumDriveLocalizer
constructor(hardwareMap: HardwareMap, inPerTick: Double, imu: IMU, kinematics: MecanumKinematics, lfName: String = "leftFront", lbName: String = "leftBack", rfName: String = "rightFront", rbName: String = "rightBack", lfDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, lbDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rfDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rbDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, initialPose: Pose2d = Pose2d.zero)
Creates a new localizer.
Parameters
hardwareMap
hardware map
inPerTick
inches per tick
imu
IMU
kinematics
mecanum kinematics
lfName
name of the left front motor
lbName
name of the left back motor
rfName
name of the right front motor
rbName
name of the right back motor
lfDirection
direction of the left front motor
lbDirection
direction of the left back motor
rfDirection
direction of the right front motor
rbDirection
direction of the right back motor
initialPose
initial pose
constructor(hardwareMap: HardwareMap, inPerTick: Double, imu: IMU, kinematics: MecanumKinematics, leftFront: Encoder, leftBack: Encoder, rightFront: Encoder, rightBack: Encoder, initialPose: Pose2d = Pose2d.zero)
Parameters
hardwareMap
hardware map
inPerTick
inches per tick
imu
IMU
kinematics
mecanum kinematics
leftFront
left front encoder
leftBack
left back encoder
rightFront
right front encoder
rightBack
right back encoder
initialPose
initial pose