TwoDeadWheelLocalizer
class TwoDeadWheelLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val imu: IMU, var inPerTick: Double, val parName: String, val perpName: String, var parYTicks: Double = 0.0, var perpXTicks: Double = 0.0, val parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val initialPose: Pose2d = Pose2d.zero) : Localizer
Localizer based on two dead wheels and an IMU.
Parameters
hardwareMap
hardware map
imu
IMU
inPerTick
inches per tick
parName
name of the parallel encoder
perpName
name of the perpendicular encoder
parYTicks
y-position of the parallel encoder (in tick units)
perpXTicks
x-position of the perpendicular encoder (in tick units)
parDirection
direction of the parallel encoder
perpDirection
direction of the perpendicular encoder
initialPose
initial pose
Constructors
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constructor(hardwareMap: HardwareMap, imu: IMU, inPerTick: Double, parName: String, perpName: String, parYTicks: Double = 0.0, perpXTicks: Double = 0.0, parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, initialPose: Pose2d = Pose2d.zero)
Properties
Functions
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Updates the localizer and returns the new velocity.
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fun withDirections(parDirection: DcMotorSimple.Direction, perpDirection: DcMotorSimple.Direction): TwoDeadWheelLocalizer
Returns a new localizer with the given encoder directions.
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Returns a new localizer with the given initial pose.
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Returns a new localizer with the given encoder locations.
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Returns a new localizer with the given encoder names.