BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization/MecanumLocalizer

MecanumLocalizer

open class MecanumLocalizer : Localizer

Mecanum drivebase localizer that uses four encoders and an IMU to localize the robot. Source

Since

6.0.0

Constructors

MecanumLocalizer

constructor(@NonNull driveModel: DriveModel, @Nullable leftFront: DcMotor, @Nullable leftBack: DcMotor, @Nullable rightBack: DcMotor, @Nullable rightFront: DcMotor, @Nullable imu: IMU)

Create a new MecanumLocalizer that will run on four Mecanum drive motors and an IMU.

Properties

val leftBack: Encoder

The left back encoder.

val leftFront: Encoder

The left front encoder.

val rightBack: Encoder

The right back encoder.

val rightFront: Encoder

The right front encoder.

Functions

open fun update(): Twist2dDual<Time>

Perform one iteration of localizer delta updates.