ftc/com.acmerobotics.roadrunner.ftc/MecanumDriveLocalizer

MecanumDriveLocalizer

class MecanumDriveLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val imu: IMU, val kinematics: MecanumKinematics, val leftFront: Encoder, val leftBack: Encoder, val rightFront: Encoder, val rightBack: Encoder, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on mecanum drive encoders and an IMU. This localizer is not recommended for use with dead wheels.

Parameters

hardwareMap

hardware map

inPerTick

inches per tick

imu

IMU

kinematics

mecanum kinematics

leftFront

left front encoder

leftBack

left back encoder

rightFront

right front encoder

rightBack

right back encoder

initialPose

initial pose

Constructors

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@JvmOverloads
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.

@JvmOverloads
constructor(hardwareMap: HardwareMap, inPerTick: Double, imu: IMU, kinematics: MecanumKinematics, leftFront: Encoder, leftBack: Encoder, rightFront: Encoder, rightBack: Encoder, initialPose: Pose2d = Pose2d.zero)

Properties

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val hardwareMap: HardwareMap
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val imu: IMU
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val initialPose: Pose2d
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val kinematics: MecanumKinematics
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open override var pose: Pose2d

The current robot pose.

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open override val poseHistory: MutableList<Pose2d>

A list of recent poses.

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open override var vel: PoseVelocity2d

The current robot velocity.

Functions

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fun fromMotors(lf: DcMotorEx, lb: DcMotorEx, rf: DcMotorEx, rb: DcMotorEx): MecanumDriveLocalizer

Returns a new localizer with the given motors.

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open override fun update(): PoseVelocity2d

Updates the localizer and returns the new velocity.

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fun withDirections(lfDirection: DcMotorSimple.Direction, lbDirection: DcMotorSimple.Direction, rfDirection: DcMotorSimple.Direction, rbDirection: DcMotorSimple.Direction): MecanumDriveLocalizer

Returns a new localizer with the given motor directions.

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fun withInitialPose(initialPose: Pose2d): MecanumDriveLocalizer

Returns a new localizer with the given initial pose.

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fun withNames(lfName: String, lbName: String, rfName: String, rbName: String): MecanumDriveLocalizer

Returns a new localizer with the given motor names.