0.2.1

ftc/com.acmerobotics.roadrunner.ftc/OTOSLocalizer

OTOSLocalizer

class OTOSLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val otosName: String = "sensor_otos", var linearScalar: Double = 1.0, var angularScalar: Double = 1.0, var offset: Pose2d = Pose2d.zero, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on the SparkFun OTOS sensor.

Parameters

hardwareMap

hardware map

otosName

name of the OTOS sensor in the hardware map

linearScalar

scalar for the linear measurements

angularScalar

scalar for the angular measurements

offset

sensor offset

initialPose

initial pose

Constructors

constructor(hardwareMap: HardwareMap, otosName: String = "sensor_otos", linearScalar: Double = 1.0, angularScalar: Double = 1.0, offset: Pose2d = Pose2d.zero, initialPose: Pose2d = Pose2d.zero)

Properties

var angularScalar: Double

val hardwareMap: HardwareMap

val initialPose: Pose2d

var linearScalar: Double

var offset: Pose2d

val otos: SparkFunOTOS

val otosName: String

open override var pose: Pose2d

The current robot pose.

open override val poseHistory: MutableList<Pose2d>

A list of recent poses.

open override var vel: PoseVelocity2d

The current robot velocity.

Functions

open override fun update(): PoseVelocity2d

Updates the localizer and returns the new velocity.

withInitialPose

fun withInitialPose(initialPose: Pose2d): OTOSLocalizer

Returns a new localizer with the given initial pose.

fun withName(otosName: String): OTOSLocalizer

Returns a new localizer with the given sensor name.

fun withOffset(offset: Pose2d): OTOSLocalizer

fun withOffset(x: Double, y: Double, h: Double): OTOSLocalizer

Returns a new localizer with the given offset.

fun withScalars(linearScalar: Double, angularScalar: Double): OTOSLocalizer

Returns a new localizer with the given scalars.