ThreeWheelLocalizer

Standard three dead wheel localizer that uses two parallel encoders and one perpendicular encoder to localize the robot. Source

6.0.0

Constructors

constructor(@NonNull driveModel: DriveModel, @NonNull params: ThreeWheelLocalizer.Params, @Nullable par0: RawEncoder, @Nullable par1: RawEncoder, @Nullable perp: RawEncoder)

Create a new ThreeWheelLocalizer that will run on two parallel and one perpendicular encoders.

open class Params

Parameters for the three dead wheel localizer.

val par0: Encoder

The first parallel encoder.

val par1: Encoder

The second parallel encoder.

Used three-wheel localizer parameters.

val perp: Encoder

The perpendicular encoder.

open fun update(): Twist2dDual<Time>

Perform one iteration of localizer delta updates.