Tank
constructor(hardwareMap: HardwareMap, kinematics: TankKinematics, inPerTick: Double, leftNames: List<String> = listOf("leftFront", "leftBack"), rightNames: List<String> = listOf("rightFront", "rightBack"), leftDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD, DcMotorSimple.Direction.FORWARD), rightDirections: List<DcMotorSimple.Direction> = listOf(DcMotorSimple.Direction.FORWARD, DcMotorSimple.Direction.FORWARD), initialPose: Pose2d = Pose2d.zero)
Creates a new localizer.
Parameters
hardware
hardware map
kinematics
tank kinematics
in
inches per tick
left
names of the left motors
right
names of the right motors
left
directions of the left motors
right
directions of the right motors
initial
initial pose
constructor(hardwareMap: HardwareMap, inPerTick: Double, kinematics: TankKinematics, leftEncoders: List<Encoder>, rightEncoders: List<Encoder>, initialPose: Pose2d = Pose2d.zero)
Parameters
hardware
hardware map
in
inches per tick
kinematics
tank kinematics
left
left encoders
right
right encoders
initial
initial pose