ftc/com.acmerobotics.roadrunner.ftc/ThreeDeadWheelLocalizer

ThreeDeadWheelLocalizer

class ThreeDeadWheelLocalizer @JvmOverloads constructor(val hardwareMap: HardwareMap, var inPerTick: Double, val par0Name: String = "par0", val par1Name: String = "par1", val perpName: String = "perp", var par0YTicks: Double = 0.0, var par1YTicks: Double = 1.0, var perpXTicks: Double = 0.0, val par0Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val par1Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val initialPose: Pose2d = Pose2d.zero) : Localizer

Localizer based on three dead wheels.

Parameters

hardwareMap

hardware map

inPerTick

inches per tick

par0Name

name of the first parallel encoder

par1Name

name of the second parallel encoder

perpName

name of the perpendicular encoder

par0YTicks

y-position of the first parallel encoder (in tick units)

par1YTicks

y-position of the second parallel encoder (in tick units)

perpXTicks

x-position of the perpendicular encoder (in tick units)

par0Direction

direction of the first parallel encoder

par1Direction

direction of the second parallel encoder

perpDirection

direction of the perpendicular encoder

initialPose

initial pose

Constructors

ThreeDeadWheelLocalizer

@JvmOverloads

constructor(hardwareMap: HardwareMap, inPerTick: Double, par0Name: String = "par0", par1Name: String = "par1", perpName: String = "perp", par0YTicks: Double = 0.0, par1YTicks: Double = 1.0, perpXTicks: Double = 0.0, par0Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, par1Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, initialPose: Pose2d = Pose2d.zero)

Properties

hardwareMap

val hardwareMap: HardwareMap

initialPose

val initialPose: Pose2d

inPerTick

@JvmField

var inPerTick: Double

par0

val par0: Encoder

par0Direction

val par0Direction: DcMotorSimple.Direction

par0Name

val par0Name: String

par0YTicks

@JvmField

var par0YTicks: Double

par1

val par1: Encoder

par1Direction

val par1Direction: DcMotorSimple.Direction

par1Name

val par1Name: String

par1YTicks

@JvmField

var par1YTicks: Double

perp

val perp: Encoder

perpDirection

val perpDirection: DcMotorSimple.Direction

perpName

val perpName: String

perpXTicks

@JvmField

var perpXTicks: Double

pose

open override var pose: Pose2d

The current robot pose.

poseHistory

open override val poseHistory: MutableList<Pose2d>

A list of recent poses.

vel

open override var vel: PoseVelocity2d

The current robot velocity.

Functions

update

open override fun update(): PoseVelocity2d

Updates the localizer and returns the new velocity.

withDirections

fun withDirections(par0Direction: DcMotorSimple.Direction, par1Direction: DcMotorSimple.Direction, perpDirection: DcMotorSimple.Direction): ThreeDeadWheelLocalizer

Returns a new localizer with the given encoder directions.

withInitialPose

fun withInitialPose(initialPose: Pose2d): ThreeDeadWheelLocalizer

Returns a new localizer with the given initial pose.

withLocations

fun withLocations(par0YTicks: Double, par1YTicks: Double, perpXTicks: Double): ThreeDeadWheelLocalizer

Returns a new localizer with the given encoder locations.

withNames

fun withNames(par0Name: String, par1Name: String, perpName: String): ThreeDeadWheelLocalizer

Returns a new localizer with the given encoder names.