BunyipsLib/org.murraybridgebunyips.bunyipslib.drive/TriDeadwheelMecanumDrive/TriDeadwheelMecanumDrive

TriDeadwheelMecanumDrive

constructor(constants: DriveConstants, mecanumCoefficients: MecanumCoefficients, @Nullable imu: IMU, frontLeft: DcMotor, frontRight: DcMotor, backLeft: DcMotor, backRight: DcMotor, localizerCoefficients: ThreeWheelLocalizer.Coefficients, enc_left: Deadwheel, enc_right: Deadwheel, enc_x: Deadwheel, lastTrackingEncPositions: List<Integer>, lastTrackingEncVels: List<Integer>)

Create a new TriDeadwheelMecanumDrive

Parameters

constants

The drive constants

mecanumCoefficients

The mecanum coefficients

imu

The IMU. Recommended to be null in a three-wheel odometry setup.

frontLeft

The front left motor

frontRight

The front right motor

backLeft

The back left motor

backRight

The back right motor

localizerCoefficients

The three deadwheel localizer coefficients

enc_left

The left y encoder

enc_right

The right y encoder

enc_x

The x encoder

lastTrackingEncPositions

The last tracking encoder positions

lastTrackingEncVels

The last tracking encoder velocities

constructor(constants: DriveConstants, mecanumCoefficients: MecanumCoefficients, imu: IMU, frontLeft: DcMotor, frontRight: DcMotor, backLeft: DcMotor, backRight: DcMotor, localizerCoefficients: ThreeWheelLocalizer.Coefficients, enc_left: Deadwheel, enc_right: Deadwheel, enc_x: Deadwheel)