TankLocalizer
constructor(hardwareMap: HardwareMap, kinematics: TankKinematics, inPerTick: Double, leftNames: List<String> = listOf("leftFront", "leftBack"), rightNames: List<String> = listOf("rightFront", "rightBack"), leftDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD, DcMotorSimple.Direction.FORWARD), rightDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD, DcMotorSimple.Direction.FORWARD), initialPose: Pose2d = Pose2d.zero)
Creates a new localizer.
Parameters
hardwareMap
hardware map
kinematics
tank kinematics
inPerTick
inches per tick
leftNames
names of the left motors
rightNames
names of the right motors
leftDirections
directions of the left motors
rightDirections
directions of the right motors
initialPose
initial pose
constructor(hardwareMap: HardwareMap, inPerTick: Double, kinematics: TankKinematics, leftEncoders: List<Encoder>, rightEncoders: List<Encoder>, initialPose: Pose2d = Pose2d.zero)
Parameters
hardwareMap
hardware map
inPerTick
inches per tick
kinematics
tank kinematics
leftEncoders
left encoders
rightEncoders
right encoders
initialPose
initial pose