BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive.localizers/IntrinsicMecanumLocalizer/IntrinsicMecanumLocalizer

IntrinsicMecanumLocalizer

constructor(coefficients: IntrinsicMecanumLocalizer.Coefficients, drive: MecanumDrive)

Create a new IntrinsicMecanumLocalizer.

Parameters

coefficients

the coefficients used in calculating the intrinsic Mecanum pose

drive

the drive instance (assumed to be Mecanum/conforms to Mecanum equations). Power info will be extracted from the drive.

constructor(coefficients: IntrinsicMecanumLocalizer.Coefficients, drive: MecanumDrive, driveInput: Supplier<Pose2d>)

Create a new IntrinsicMecanumLocalizer.

Parameters

coefficients

the coefficients used in calculating the intrinsic Mecanum pose

drive

the drive instance (assumed to be Mecanum/conforms to Mecanum equations)

driveInput

the robot pose input (x forward, y left, heading anticlockwise) of the drive