TwoDeadWheelLocalizer
class TwoDeadWheelLocalizer(hardwareMap: HardwareMap, val imu: IMU, inPerTick: Double, var pose: Pose2d, params: TwoDeadWheelLocalizer.LocalizerParams = LocalizerParams()) : RoadRunnerLocalizer
A RoadRunnerLocalizer that uses two dead wheels and an IMU to localize the robot.
Parameters
hardwareMap
the hardware map
imu
the imu
inPerTick
the number of inches per encoder tick
pose
the initial pose
params
configurable parameters
Constructors
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constructor(hardwareMap: HardwareMap, imu: IMU, inPerTick: Double, pose: Pose2d, params: TwoDeadWheelLocalizer.LocalizerParams = LocalizerParams())
Types
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data class LocalizerParams(val parName: String = "par", val parDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val perpName: String = "perp", val perpDirection: DcMotorSimple.Direction = DcMotorSimple.Direction.FORWARD, val parYTicks: Double = 0.0, val perpXTicks: Double = 0.0)
Parameters for TwoDeadWheelLocalizer.