PinpointLocalizer
class PinpointLocalizer(hardwareMap: HardwareMap, inPerTick: Double, var pose: Pose2d, params: PinpointLocalizer.LocalizerParams = LocalizerParams()) : RoadRunnerLocalizer
A RoadRunnerLocalizer that uses a Pinpoint Odometry Computer to localize the robot.
Parameters
hardwareMap
the hardware map
inPerTick
the number of inches per encoder tick
pose
the initial pose
params
configurable parameters
Constructors
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constructor(hardwareMap: HardwareMap, inPerTick: Double, pose: Pose2d, params: PinpointLocalizer.LocalizerParams = LocalizerParams())
Types
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data class LocalizerParams(val driverName: String = "pinpoint", val parDirection: GoBildaPinpointDriver.EncoderDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD, val perpDirection: GoBildaPinpointDriver.EncoderDirection = GoBildaPinpointDriver.EncoderDirection.FORWARD, var parYTicks: Double = 0.0, var perpXTicks: Double = 0.0)
Parameters for PinpointLocalizer.