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

TankLocalizer

open class TankLocalizer : Localizer

Tank drivebase localizer that uses drive encoders on all parallel wheels to localize the robot. Source

Since

6.0.0

Constructors

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constructor(@NonNull driveModel: DriveModel, @NonNull leftMotors: List<DcMotor>, @NonNull rightMotors: List<DcMotor>)
Create a new TankLocalizer that will run on two parallel sets of drive motors.

Properties

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val leftEncs: List<Encoder>
Encoders on the left side of the robot.
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val rightEncs: List<Encoder>
Encoders on the right side of the robot.

Functions

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@NonNull
open fun update(): Twist2dDual<Time>
Perform one iteration of localizer delta updates.