ftc/gay.zharel.hermes.ftc/TwoDeadWheelLocalizer

TwoDeadWheelLocalizer

class TwoDeadWheelLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val imu: IMU, var inPerTick: Double, val parName: String, val perpName: String, var parYTicks: Double = 0.0, var perpXTicks: Double = 0.0, val parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on two dead wheels and an IMU.

Parameters

hardwareMap

hardware map

imu

IMU

inPerTick

inches per tick

parName

name of the parallel encoder

perpName

name of the perpendicular encoder

parYTicks

y-position of the parallel encoder (in tick units)

perpXTicks

x-position of the perpendicular encoder (in tick units)

parDirection

direction of the parallel encoder

perpDirection

direction of the perpendicular encoder

initialPose

initial pose

Constructors

TwoDeadWheelLocalizer

@JvmOverloads

constructor(hardwareMap: HardwareMap, imu: IMU, inPerTick: Double, parName: String, perpName: String, parYTicks: Double = 0.0, perpXTicks: Double = 0.0, parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, initialPose: Pose2d = Pose2d.zero)