Mecanum
constructor(hardwareMap: HardwareMap, inPerTick: Double, imu: IMU, kinematics: MecanumKinematics, lfName: String = "leftFront", lbName: String = "leftBack", rfName: String = "rightFront", rbName: String = "rightBack", lfDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, lbDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rfDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, rbDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, initialPose: Pose2d = Pose2d.zero)
Creates a new localizer.
Parameters
hardware
hardware map
in
inches per tick
imu
IMU
kinematics
mecanum kinematics
lf
name of the left front motor
lb
name of the left back motor
rf
name of the right front motor
rb
name of the right back motor
lf
direction of the left front motor
lb
direction of the left back motor
rf
direction of the right front motor
rb
direction of the right back motor
initial
initial pose
constructor(hardwareMap: HardwareMap, inPerTick: Double, imu: IMU, kinematics: MecanumKinematics, leftFront: Encoder, leftBack: Encoder, rightFront: Encoder, rightBack: Encoder, initialPose: Pose2d = Pose2d.zero)
Parameters
hardware
hardware map
in
inches per tick
imu
IMU
kinematics
mecanum kinematics
left
left front encoder
left
left back encoder
right
right front encoder
right
right back encoder
initial
initial pose