ThreeDeadWheelLocalizer
class ThreeDeadWheelLocalizer(hardwareMap: HardwareMap, inPerTick: Double, var pose: Pose2d, params: ThreeDeadWheelLocalizer.LocalizerParams = LocalizerParams()) : RoadRunnerLocalizer
A RoadRunnerLocalizer that uses three dead wheels 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: ThreeDeadWheelLocalizer.LocalizerParams = LocalizerParams())
Types
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data class LocalizerParams(val par0Name: String = "par0", val par0Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val par1Name: String = "par1", val par1Direction: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpName: String = "perp", val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val par0YTicks: Double = 0.0, val par1YTicks: Double = 1.0, val perpXTicks: Double = 0.0)
Parameters for ThreeDeadWheelLocalizer.