ftc/com.acmerobotics.roadrunner.ftc/TankLocalizer

TankLocalizer

class TankLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val kinematics: TankKinematics, val leftEncoders: List<Encoder>, val rightEncoders: List<Encoder>, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on tank drive encoders. This localizer is not recommended for use with dead wheels.

Parameters

hardwareMap

hardware map

inPerTick

inches per tick

kinematics

tank kinematics

leftEncoders

left encoders

rightEncoders

right encoders

initialPose

initial pose

Constructors

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@JvmOverloads
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.

@JvmOverloads
constructor(hardwareMap: HardwareMap, inPerTick: Double, kinematics: TankKinematics, leftEncoders: List<Encoder>, rightEncoders: List<Encoder>, initialPose: Pose2d = Pose2d.zero)

Properties

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val hardwareMap: HardwareMap
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val initialPose: Pose2d
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val kinematics: TankKinematics
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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(leftMotors: List<DcMotorEx>, rightMotors: List<DcMotorEx>): TankLocalizer

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(leftDirections: List<DcMotorSimple.Direction>, rightDirections: List<DcMotorSimple.Direction>): TankLocalizer

Returns a new localizer with the given motor directions.

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fun withInitialPose(initialPose: Pose2d): TankLocalizer

Returns a new localizer with the given initial pose.

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fun withNames(leftNames: List<String>, rightNames: List<String>): TankLocalizer

Returns a new localizer with the given motor names.