ftc/com.acmerobotics.roadrunner.ftc/SwerveLocalizer

SwerveLocalizer

class SwerveLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, val cpr: Int, var inPerTick: Double, val imu: IMU, val kinematics: SwerveKinematics, driveEncoders: List<Encoder>, steeringEncoders: List<Encoder>, val initialPose: Pose2d = Pose2d.zero) : Localizer

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

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

driveEncoders

drive encoders

steeringEncoders

steering encoders

initialPose

initial pose

Constructors

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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.

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

Properties

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val cpr: Int
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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: SwerveKinematics
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open override var pose: Pose2d

The current robot pose.

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open override val poseHistory: ArrayList<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(driveMotors: List<DcMotorEx>, steeringMotors: List<DcMotorEx>): SwerveLocalizer

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(driveDirections: List<DcMotorSimple.Direction>, steeringDirections: List<DcMotorSimple.Direction>): SwerveLocalizer

Returns a new localizer with the given motor directions.

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fun withInitialPose(initialPose: Pose2d): SwerveLocalizer

Returns a new localizer with the given initial pose.

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fun withNames(driveNames: List<String>, steeringNames: List<String>): SwerveLocalizer

Returns a new localizer with the given motor names.