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

TwoWheelLocalizer

open class TwoWheelLocalizer : TwoTrackingWheelLocalizer

Dual tracking wheel localizer implementation.

Since

4.0.0

Constructors

TwoWheelLocalizer

constructor(coefficients: TwoWheelLocalizer.Coefficients, parallelDeadwheel: Deadwheel, perpendicularDeadwheel: Deadwheel, drive: RoadRunnerDrive)

Create a new TwoWheelLocalizer.

Types

open class Coefficients

Coefficients for RoadRunner two wheel tracking localizer.

Properties

val coefficients: TwoWheelLocalizer.Coefficients

Inherited properties

open var poseVelocity: Pose2d

Functions

enableOverflowCompensation

open fun enableOverflowCompensation(): TwoWheelLocalizer

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

encoderTicksToInches

open fun encoderTicksToInches(ticks: Double): Double

Convert encoder ticks to inches

open fun getHeading(): Double

getHeadingVelocity

open fun getHeadingVelocity(): Double

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()