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

ThreeWheelLocalizer

open class ThreeWheelLocalizer : ThreeTrackingWheelLocalizer

Standard 3 tracking wheel localizer implementation.

Since

4.0.0

Constructors

ThreeWheelLocalizer

constructor(coefficients: ThreeWheelLocalizer.Coefficients, leftDeadwheel: Deadwheel, rightDeadwheel: Deadwheel, frontDeadwheel: Deadwheel)

Create a new ThreeWheelLocalizer with coefficients and encoders.

constructor(coefficients: ThreeWheelLocalizer.Coefficients, leftDeadwheel: Deadwheel, rightDeadwheel: Deadwheel, frontDeadwheel: Deadwheel, lastTrackingEncPositions: List<Integer>, lastTrackingEncVels: List<Integer>)

Create a new ThreeWheelLocalizer with coefficients, encoders, and last encoder positions and velocities.

Types

open class Coefficients

Constants for RoadRunner standard tracking wheels.

Properties

val coefficients: ThreeWheelLocalizer.Coefficients

Inherited properties

open var poseVelocity: Pose2d

Functions

enableOverflowCompensation

open fun enableOverflowCompensation(): ThreeWheelLocalizer

Enable overflow compensation if your encoders exceed 32767 counts / second.

encoderTicksToInches

open fun encoderTicksToInches(ticks: Double): Double

Convert encoder ticks to inches.

getWheelPositions

open fun getWheelPositions(): List<Double>

getWheelVelocities

open fun getWheelVelocities(): List<Double>

Inherited functions

getPoseEstimate

open fun getPoseEstimate(): Pose2d

setPoseEstimate

open fun setPoseEstimate(value: Pose2d)

open fun update()