TwoWheelLocalizer

Standard two dead wheel localizer that uses one parallel and perpendicular encoder in combination with the IMU to localize the robot. Source

6.0.0

Constructors

constructor(@NonNull driveModel: DriveModel, @NonNull params: TwoWheelLocalizer.Params, @Nullable par: RawEncoder, @Nullable perp: RawEncoder, @Nullable imu: IMU)

Create a new TwoWheelLocalizer that will run on two parallel and one perpendicular encoders, with an IMU for heading information.

open class Params

Parameters for the two dead wheel localizer.

val imu: IMU

The IMU used for heading information.

val par: Encoder

The parallel encoder.

Used two-wheel localizer parameters.

val perp: Encoder

The perpendicular encoder.

open fun update(): Twist2dDual<Time>

Perform one iteration of localizer delta updates.