ftc/com.acmerobotics.roadrunner.ftc/SwerveLocalizer/SwerveLocalizer

SwerveLocalizer

constructor(hardwareMap: HardwareMap, cpr: Int, inPerTick: Double, imu: IMU, kinematics: SwerveKinematics, driveNames: List<String> = listOf("lfDrive", "frDrive", "blDrive", "brDrive"), steeringNames: List<String> = listOf("lfSteering", "rfSteering", "lbSteering", "rbSteering"), driveDirections: List<DcMotorSimple.Direction> = driveNames.map { DcMotorSimple.Direction.FORWARD }, steeringDirections: List<DcMotorSimple.Direction> = steeringNames.map { DcMotorSimple.Direction.FORWARD }, initialPose: Pose2d = Pose2d.zero)

Creates a new localizer.

Parameters

hardwareMap

hardware map

cpr

counts per revolution of the steering encoders

inPerTick

inches per tick of the drive encoders

imu

IMU

kinematics

swerve kinematics

driveNames

names of the drive motors

steeringNames

names of the steering motors

driveDirections

directions of the drive motors

steeringDirections

directions of the steering motors

initialPose

initial pose

@JvmOverloads

constructor(hardwareMap: HardwareMap, cpr: Int, inPerTick: Double, imu: IMU, kinematics: SwerveKinematics, driveEncoders: List<Encoder>, steeringEncoders: List<Encoder>, initialPose: Pose2d = Pose2d.zero)